Drainage wire pulling upper wire device, pulling upper wire method and live sparking robot

Abstract

The application belongs to the technical field of live-line hot-stick robots, and particularly discloses a lead line pulling-up device, a lead line pulling-up method and a live-line hot-stick robot. The lead line pulling-up device comprises a rack, a pulling line mechanism, a clamping mechanism, a grabbing mechanism and a grabbing control mechanism. The lead line is pulled into the clamping channel between two first clamping plates through the pulling rope and clamped. The grabbing control mechanism drives the grabbing mechanism to make the two second clamping plates clamp the lead line. The live-line hot-stick robot further comprises a wiring mechanism. The lead line clamp is preassembled on one side of the shell by the clamping jaw of the locking assembly. The lead line clamp is driven by the grabbing control mechanism to make the wire groove be clamped into the overhead wire, the lead line is inserted into the lead line groove, the screw sleeve of the bolt is driven by the rotating motor to be screwed with the bolt sleeve of the lead line clamp, and the movable clamp clamps the overhead wire and the lead line. The application realizes the automation of lead line pulling-up and live-line hot-stick, and does not need manual tower climbing and live-line operation, so that the efficiency is high and the safety is good.

Description

Technical Field

[0001] This invention relates to the field of live-line welding robot technology, and particularly to a device for pulling and loading a guide wire, a method for pulling and loading a guide wire, and a live-line welding robot. Background Technology

[0002] Currently, live-line connection work on high-altitude conductors typically requires stripping the conductors first, then placing the exposed cores of the lead wire and the exposed cores of the high-altitude conductor together into the lead wire clamp, and finally tightening the bolts on the lead wire clamp to ensure a reliable connection. Because the work site is located at a high altitude, and the lead wire itself is long, flexible, and prone to swinging, the traditional method involves workers climbing the tower and using equipment such as insulated bucket trucks to manually complete the work. This requires not only manually pulling the lead wire from the ground to the high-altitude work site, but also manually aligning the lead wire with the clamp, inserting the wire, and tightening the bolts. The work process is cumbersome, time-consuming, and inefficient. Furthermore, personnel are exposed to a strong electric field at high altitudes for extended periods, posing a significant risk of electric shock and falls from height.

[0003] To replace manual labor, various live-line connection equipment has emerged in the existing technology. For example, patent document CN117200095A discloses a live-line connection robot, which includes a winch mechanism, a front wire-walking arm, a rear wire-walking arm, a traction mechanism, a wire stripping mechanism, a swing arm mechanism, and a wire clamping mechanism. This robot can autonomously go up and down the wire, walk along the wire to the work point, and autonomously move the lead wire to the connection position to complete the wire stripping and connection operations, which improves work efficiency and reduces work safety risks to a certain extent. However, this robot mainly replaces manual labor in the wire stripping and connection stages. How to connect the lead wire to the lead wire clamp and be pulled to the high-altitude work position by the traction mechanism still requires manual operation before climbing the tower. It cannot truly avoid personnel working at height and manual intervention, and fails to achieve full mechanization of the entire process from lead wire traction to connection completion.

[0004] For example, patent document CN120767727A discloses an installation device and method for connecting clamps of diversion lines, including a traction mechanism, a clamp mechanism, a holding mechanism, and an installation mechanism. It can be used in conjunction with a live-line welding robot. By mimicking the operation of human hands, the clamp mechanism is connected and fixed to the diversion line using the clamp and installer, completing the previous process of installing the diversion line clamp. There is no need for manual climbing of the tower to install the diversion line clamp, avoiding the risk of falling from height. However, the installation device still relies on manual operation to connect and fix the clamp to the diversion line. For the already erected high-altitude conductors, it is difficult for workers to operate at high altitudes, which limits its practicality.

[0005] In summary, existing live-line connection equipment has failed to solve the problem of fully mechanized operation of automatically pulling the lead wire from the ground to the line, automatically aligning and inserting it with the lead wire clamp, and automatically tightening it: the pulling, clamping, and handing over of the lead wire still require manual intervention, and the risks of workers working at height and on live lines have not been eliminated; the alignment and insertion of the lead wire end with the lead wire clamp, as well as the clamping of the lead wire clamp with the high-altitude conductor and the tightening of the bolts, all lack an actuator that can complete the task autonomously, resulting in poor work continuity, and the alignment accuracy being greatly affected by the skill level of the operator, making it difficult to guarantee the consistency and reliability of the wiring quality.

[0006] Therefore, the above problems urgently need to be solved. Summary of the Invention

[0007] The purpose of this invention is to provide a device for pulling and loading a guide wire, a method for pulling and loading the guide wire, and a robot for live-line connection, so as to solve the technical problems in the prior art where the pulling and loading of the guide wire, the alignment and insertion of the guide wire clamp, and the tightening of bolts all rely on manual tower climbing operations, resulting in high risk, low efficiency, poor consistency of wiring quality, and inability to achieve fully mechanized operation.

[0008] To achieve the above objectives, the present invention adopts the following technical solution: A drain line traction device, comprising: frame; A wire pulling mechanism, located on the frame, includes a wire pulling drive assembly, a take-up reel connected to the output end of the wire pulling drive assembly, and a pull rope wound on the take-up reel for pulling the guide wire. A clamping mechanism is provided on the frame, including two first clamping plates and a clamping drive assembly for driving the two first clamping plates to open or close. A clamping channel for the guide wire to enter is formed between the two first clamping plates, and the two first clamping plates are used to clamp the guide wire entering the clamping channel. The gripping mechanism includes two second clamping plates and a gripping drive assembly for driving the two second clamping plates to open or close, wherein the two second clamping plates are used to clamp the drain line clamped by the two first clamping plates; A gripping control mechanism is provided on the frame and connected to the gripping mechanism, for driving the gripping mechanism to move so that the two second clamping plates clamp the drain line.

[0009] Specifically, the grasping control mechanism includes: Mounting base, fixed to one side of the frame; A Z-axis drive assembly is provided on the mounting base and has an output end for driving along the Z direction; A sliding frame is connected to the output end of the Z-axis drive assembly; A swing assembly includes a swing frame and a first telescopic actuator. One end of the swing frame is hinged to the sliding frame, the body of the first telescopic actuator is hinged to the sliding frame, and the drive rod of the first telescopic actuator is hinged to the middle of the swing frame. The Y-axis drive assembly is fixed to the other end of the swing frame and has an output end for driving along the Y direction; The X-axis drive assembly is connected to the output end of the Y-axis drive assembly and is used to drive the gripping mechanism along the X direction.

[0010] Specifically, two sets of traveling mechanisms are arranged side by side along the X direction on the frame. Each set of traveling mechanisms includes a second telescopic driver, a swing arm, a traveling drive motor, and traveling wheels. The body of the second telescopic driver is hinged to the frame, the drive rod of the second telescopic driver is hinged to the swing arm, the traveling drive motor is fixed to the swing arm, the traveling wheels are connected to the output end of the traveling drive motor, and the traveling wheels can travel along the high-altitude guide wire.

[0011] Specifically, the frame is also equipped with a lifting and traction mechanism, which includes: A lifting drive device is fixed inside the frame; The lifting reel is located inside the frame and is driven to rotate by the lifting drive device; A fixed frame is attached to the frame. A cable hanger is used to hang overhead power lines. One end of the traction rope is wound around the lifting reel, and the other end is detachably connected to the fixing frame after passing around the hanging frame; when the lifting reel winds up the traction rope, it drives the frame to rise and fall.

[0012] Specifically, the frame is equipped with a first camera and a second camera; the first camera faces the clamping mechanism; and the second camera faces the gripping control mechanism.

[0013] A method for pulling and raising a drainage line, using the aforementioned drainage line pulling and raising device, includes the following steps: S1. Connect the pull rope to the end of the drain line, and wind up the pull rope through the take-up reel to pull the drain line into the clamping channel; S2, the two first clamps close to clamp the drain line, and the pull rope continues to be wound up and disengaged from the drain line; S3. The gripping control mechanism drives the gripping mechanism to move to one side of the clamping mechanism, the two second clamping plates clamp the drain line, and the two first clamping plates release the drain line.

[0014] A live-line welding robot, comprising: The drain line traction device; A wiring mechanism, connected to the grasping control mechanism, includes: The outer shell has an inner cavity, and one end of the outer shell along the Y direction is provided with a through hole communicating with the inner cavity, the through hole corresponding to the position of the bolt on the drain line clamp; The locking assembly includes two jaws respectively disposed on both sides of the through hole in the X direction and a locking driver for driving the two jaws to clamp or release the drain line clamp; The tightening assembly includes a tightening motor fixed in the inner cavity and a bolt sleeve that is drivenly connected to the output shaft of the tightening motor. The bolt sleeve can extend out of the outer side of the housing along the Y direction through the through hole and engage with the bolt of the drain clamp.

[0015] Specifically, the locking actuator includes an electric push rod disposed in the inner cavity, the gripper is rotatably disposed in the outer shell via a first rotating shaft, the body of the electric push rod is hinged to the outer shell, and the drive rod of the electric push rod is hinged to the gripper.

[0016] Specifically, the output shaft of the tightening motor is provided with a shaft hole, and one end of the bolt sleeve is connected to a key shaft, which is movably fitted with the shaft hole in the Y direction; a spring is also sleeved on the outside of the key shaft, and the spring is located between the output shaft of the tightening motor and the bolt sleeve.

[0017] Specifically, the wiring mechanism also includes a third camera, which is fixed to the upper end of the housing and is positioned facing the locking assembly.

[0018] Beneficial effects: This application uses a pull-line mechanism to drive a winding reel to wind up the pull rope, automatically pulling the guide line into the clamping channel between two first clamping plates and clamping it. After the pull rope continues to wind up, it automatically disengages from the guide line, eliminating the need for manual tower climbing and dragging. The gripping control mechanism drives the gripping mechanism to move, so that the two second clamping plates clamp the guide line and then the two first clamping plates release it. This first-to-last-release handover method ensures that the guide line is always constrained throughout the entire handover process, preventing it from swinging or falling. Attached Figure Description

[0019] Figure 1 A 3D view of the drain clamp, high-altitude conductor, and drain clamp; Figure 2 For the three-dimensional electric welding robot of this application Figure 1 ; Figure 3 For the three-dimensional electric welding robot of this application Figure 2 ; Figure 4 For the three-dimensional electric welding robot of this application Figure 3 ; Figure 5 This is a perspective view of the frame, wire-drawing mechanism, and clamping mechanism of this application; Figure 6 This is a perspective view of the wire-drawing mechanism of this application; Figure 7 This is a perspective view of the clamping mechanism of this application; Figure 8 The three-dimensional gripping control mechanism and clamping mechanism of this application Figure 1 ; Figure 9 The three-dimensional gripping control mechanism and clamping mechanism of this application Figure 2 ; Figure 10 A perspective view of the grasping control mechanism of this application; Figure 11 A perspective sectional view of the wiring mechanism and drain clamp of this application. Figure 1 ; Figure 12 A perspective sectional view of the wiring mechanism and drain clamp of this application. Figure 2 ; Figure 13 This is a three-dimensional view of the grasping mechanism in this application.

[0020] Reference numerals: Frame 10, Walking mechanism 11, Second telescopic actuator 111, Swing arm 112, Walking drive motor 113, Walking wheel 114, Lifting traction mechanism 12, Fixed point frame 121, Wire hanging frame 122, Traction rope 123, First camera 13, Second camera 14, Wire pulling mechanism 20, Wire pulling drive assembly 21, First mounting frame 211, Wire pulling motor 212, Wire pulling coupling 213, Reel 22, Rotating shaft 221, Wire pulling rope 23, Cover 24, Guide wheel 25, Clamping mechanism 30, Clamping channel 301, First clamping plate 31, Clamping drive assembly 32, Second mounting frame 321, Clamping motor 322, Clamping coupling 323, Clamping screw 324, Clamping nut seat 325, Gripping mechanism 40, Second clamping plate 41, Gripping drive assembly 42, ... A sliding seat 421, a gripping motor 422, a gripping screw 423, a gripping nut seat 424, a gripping control mechanism 50, a mounting seat 51, a Z-axis drive assembly 52, a sliding frame 53, a swing assembly 54, a swing frame 541, a first telescopic driver 542, a Y-axis drive assembly 55, an X-axis drive assembly 56, a wiring mechanism 60, a housing 61, a through hole 611, an inner cavity 612, a locking assembly 62, a gripper 621, a first rotating shaft 622, a tightening assembly 63, a tightening motor 631, a shaft hole 6311, a bolt sleeve 632, a key shaft 633, a spring 634, a third camera 64, a drain line 70, a high-altitude wire 80, a drain line clamp 90, a clamp body 91, a fixing clamp 92, a bolt 93, a movable clamp 94, a wire groove 901, a drain line groove 902, and a protective cover 95. Detailed Implementation

[0021] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0022] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0023] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature.

[0024] In this application, unless otherwise expressly specified and limited, the terms “installation,” “connection,” “linking,” “fixing,” etc., shall be interpreted broadly. For example, they may refer to a fixed connection, a detachable connection, or an integral part; they may refer to a mechanical connection or an electrical connection; they may refer to a direct connection or an indirect connection through an intermediate medium; they may refer to the internal connection of two components or the interaction between two components, unless otherwise expressly limited.

[0025] like Figure 1 As shown, the drain clamp 90 includes a clamp body 91, a fixed clamp 92 disposed on the clamp body 91, and a movable clamp 94 disposed on the clamp body 91 by bolts 93. A conductor groove 901 and a drain wire groove 902 are formed between the fixed clamp 92 and the movable clamp 94, which are parallel to each other. The clamp body 91 is also provided with a hinged protective cover 95. The conductor groove 901 is used to insert the overhead conductor 80, and the drain wire groove 902 is used to insert the drain wire 70. The drain clamp 90 is a key hardware component used to achieve a conductive connection between the drain wire 70 and the overhead conductor 80 during live-line contact operations.

[0026] The clamp body 91 is a block-shaped structure. The fixed clamp 92 is fixed to or integrally formed on the clamp body 91, and the movable clamp 94 is connected to the clamp body 91 by a bolt 93 through a threaded engagement. When the bolt 93 is tightened, the movable clamp 94 moves linearly toward the fixed clamp 92 under the drive of the bolt 93, and the distance between the two gradually narrows, thereby clamping the high-altitude conductor 80 passing through the conductor groove 901 and the drainage wire 70 passing through the drainage wire groove 902 together, so that the exposed core of the high-altitude conductor 80 and the exposed core of the drainage wire 70 achieve reliable conductive contact inside the drainage clamp 90. The conductor groove 901 and the drainage wire groove 902 are parallel to each other and spaced apart, with their axes aligned, and are used to accommodate the high-altitude conductor 80 and the drainage wire 70, respectively. This parallel double-groove structure allows the drainage wire 70 to be connected in a parallel manner with the high-altitude conductor 80, resulting in a neat wiring path and reasonable stress distribution after wiring.

[0027] The protective cover 95 is hinged to the clamp body 91. After wiring is completed and bolts 93 are tightened, the protective cover 95 can be flipped and fastened to the open side of the drain clamp 90 to shield and protect the exposed parts of the conductor groove 901 and drain groove 902. This prevents rainwater, dust, and foreign objects from entering the clamp and affecting conductivity reliability, and also reduces the safety risks caused by exposed live parts. Understandably, the specific internal structure of the drain clamp 90 is well-known in the art and is not the focus of this application. The focus of this application is on how to automatically assemble the drain clamp 90 with the high-altitude conductor 80 and the drain line 70 and tighten the bolts 93 using a robot. Therefore, the conductive structure of the drain clamp 90 itself will not be described in detail here.

[0028] like Figures 2 to 4As shown, this embodiment discloses a live-line welding robot, including a wire pulling and loading device and a wiring mechanism 60. The wire pulling and loading device includes a frame 10, a wire pulling mechanism 20, a clamping mechanism 30, a gripping mechanism 40, and a gripping control mechanism 50. The frame 10 serves as the load-bearing foundation and skeleton of the entire live-line welding robot. All other mechanisms are directly or indirectly installed and fixed on the frame 10. The frame 10 bears the weight of each mechanism and various reaction forces generated during operation, ensuring that the robot as a whole has sufficient rigidity and stability. The cable pulling mechanism 20 is responsible for vertically pulling and lifting the guide cable 70 located on the ground to the high-altitude working position. The clamping mechanism 30 is responsible for temporarily clamping and fixing the guide cable 70 in place to prevent it from swinging or falling. The gripping mechanism 40 is used to take the guide cable 70 from the clamping mechanism 30 and, driven by the gripping control mechanism 50, moves the guide cable 70 and its end to the wiring mechanism 60. Finally, the wiring mechanism 60 completes the assembly of the guide cable clamp 90 with the high-altitude conductor 80 and the guide cable 70, as well as the automatic tightening of the bolts 93. The wiring mechanism 60 is connected to the gripping control mechanism 50, which drives it to complete the spatial position and attitude adjustment so that the guide cable clamp 90 pre-installed on it can accurately engage with the high-altitude conductor 80 and receive the guide cable 70.

[0029] To clearly describe the spatial relationships of the components, such as Figure 8 As shown, the following definitions apply: X-axis is the longitudinal extension direction of the overhead conductor 80; Y-axis is the transverse direction perpendicular to the X-axis in the horizontal plane, i.e., the axial direction of the bolt 93 of the drain clamp 90; Z-axis is the vertical direction. These directional definitions are only for the convenience of describing the relative positional relationships and directions of movement of the components, and are not absolute limitations on the actual installation posture of the components. In actual operation scenarios, the robot straddles and is positioned on the overhead conductor 80 by the frame 10. At this time, the extension direction of the overhead conductor 80 is naturally defined as the X-axis; the axial direction of the bolt 93 on the drain clamp 90 is perpendicular to the overhead conductor 80 and located in the horizontal plane, so it is defined as the Y-axis; the vertical direction is defined as the Z-axis. All directional descriptions involving "along the X-axis," "along the Y-axis," "along the Z-axis," "one side of the X-axis," and "one end of the Y-axis" are based on the above definitions. Furthermore, when the robot deviates as a whole along the path, the above directional descriptions also deviate accordingly, and should not be interpreted as rigid limitations on absolute spatial directions.

[0030] When the robot is deployed, the frame 10 needs to be raised to the high-altitude conductor 80, a function achieved by the lifting and traction mechanism 12. The frame 10 is also equipped with the lifting and traction mechanism 12, which includes a lifting drive device, a lifting reel, a fixed frame 121, a wire hanging frame 122, and a traction rope 123. The lifting drive device is fixed inside the frame 10. The lifting reel is located inside the frame 10 and is driven to rotate by the lifting drive device. The fixed frame 121 is fixed to the frame 10. The wire hanging frame 122 is used to hang the high-altitude conductor 80. One end of the traction rope 123 is wound around the lifting reel, and the other end passes around the wire hanging frame 122 and is detachably connected to the fixed frame 121. When the lifting reel winds up the traction rope 123, it drives the frame 10 to rise and fall.

[0031] Specifically, before the robot goes online, a drone first hangs the wire-hanging frame 122 on the high-altitude conductor 80. At this time, the wire-hanging frame 122 hooks onto the high-altitude conductor 80 to form an upper fixed support point. The movable end of the traction rope 123 is released from the lifting reel, passes upward around the wire-hanging frame 122, and then connects and fixes downward to the fixed frame 121 on the frame 10, thus forming a retractable rope segment between the wire-hanging frame 122 and the fixed frame 121. Subsequently, the lifting drive device is powered on and drives the lifting reel to rotate and wind up the traction rope 123. As the traction rope 123 is continuously wound onto the lifting reel, the effective rope length between the wire-hanging frame 122 and the fixed frame 121 gradually shortens. The frame 10 and the various mechanisms installed on it are then lifted upward as a whole until the traveling wheels 114 on the frame 10 can be connected and supported on the high-altitude conductor 80, completing the online operation.

[0032] The lifting drive device can be a combination of a motor and a reducer. The output rotational motion is reduced and amplified before being transmitted to the lifting reel, which is then converted into a winding force on the traction rope 123. By adjusting the speed of the lifting drive device, the lifting speed and stability of the frame 10 can be controlled, preventing excessive swaying of the frame 10 during lifting. The fixed frame 121 and the traction rope 123 are detachably connected, for example, by a pin, hook, or quick connector. After the robot is on the line and the walking wheel 114 has been reliably attached to the high-altitude guide wire 80, the traction rope 123 can be detached from the fixed frame 121, so that it no longer bears the weight of the frame 10. This prevents the traction rope 123 from being suspended in the air for a long time, swinging with the wind, or getting tangled and interfering with the guide wire or other components. It also facilitates the retrieval or temporary placement of the hanging frame 122 and the traction rope 123.

[0033] After the robot is deployed, it needs to travel along the overhead guide wire 80 to the work position; this function is achieved by the walking mechanism 11. For example... Figure 5As shown, two sets of walking mechanisms 11 are arranged side-by-side along the X-direction on the frame 10. Each set of walking mechanisms 11 includes a second telescopic actuator 111, a swing arm 112, a walking drive motor 113, and a walking wheel 114. The body of the second telescopic actuator 111 is hinged to the frame 10, and the drive rod of the second telescopic actuator 111 is hinged to the swing arm 112. The walking drive motor 113 is fixed to the swing arm 112, and the walking wheel 114 is connected to the output end of the walking drive motor 113, and the walking wheel 114 can travel along the overhead guide 80. The two sets of walking mechanisms 11 are arranged side-by-side along the X-direction on the frame 10, enabling the robot to straddle the overhead guide 80 with two points of support. The two support points are a certain distance apart, thereby effectively improving the stability and anti-tipping ability of the robot during walking. The wheel 114 has an annular groove on its surface that matches the outer diameter of the overhead wire 80. This groove can be engaged with the overhead wire 80, ensuring that the wheel 114 does not wobble left or right or derail when rolling along the overhead wire 80. It also increases the contact area between the wheel 114 and the overhead wire 80, preventing slippage due to rain, icing of the wire, or a smooth wire surface. When the drive motor 113 is powered on, it outputs rotational motion, directly driving the wheel 114 to rotate. The friction between the wheel 114 and the overhead wire 80 propels the entire robot along the overhead wire 80 to the target work position.

[0034] The swing arm 112 provides the traveling wheel 114 with a degree of freedom of swing relative to the frame 10: when the drive rod of the second telescopic actuator 111 extends or retracts, it can push or pull the swing arm 112 to swing around its hinge point with the frame 10, thereby adjusting the height and horizontal position of the traveling wheel 114 relative to the frame 10. This swinging capability plays a role in two aspects: firstly, during the process of the lifting traction mechanism 12 lifting the frame 10 onto the line, the second telescopic actuator 111 can drive the swing arm 112 to swing upward or outward, so that the traveling wheel 114 temporarily leaves the space where the wire rack 122 and the high-altitude conductor 80 are located, avoiding collision and interference between the traveling wheel 114 and the wire rack 122 and the high-altitude conductor 80. After the frame 10 is lifted into position, the swing arm 112 swings in the opposite direction, so that the traveling wheel 114 accurately connects to the high-altitude conductor 80; secondly, when the robot encounters anti-vibration hammers, tension clamps, and suspensions while traveling along the high-altitude conductor 80, When encountering obstacles such as plumb line clamps, the robot can overcome obstacles through the alternating movements of two sets of swing arms 112. First, the second telescopic driver 111 of one set of walking mechanisms 11 drives its swing arm 112 to swing, causing the walking wheels 114 of that set to lift and cross the obstacle. At this time, the other set of walking wheels 114 is still supported on the high-altitude conductor 80 to bear the weight of the entire machine. After the first set of walking wheels 114 crosses the obstacle and reconnects, the second set of walking wheels 114 is lifted in the same way to cross the obstacle. Thus, the robot can overcome obstacles autonomously without interrupting live work or requiring human intervention, ensuring that the robot can successfully reach any work point on the line.

[0035] The second telescopic actuator 111 can be a linear drive element such as an electric push rod. Its body and the frame 10, as well as the drive rod and the swing arm 112, are connected by hinges to adapt to the changing angle of the swing arm 112 during the swing process and to avoid motion jamming.

[0036] Because the robot needs to obtain the position information of the guide wire 70 and each actuator in each process such as traction, clamping, grasping, and wiring, it is also equipped with a visual perception unit. For example... Figure 5 As shown, the frame 10 is equipped with a first camera 13 and a second camera 14; the first camera 13 faces the clamping mechanism 30; the second camera 14 faces the grasping control mechanism 50. The first camera 13 and the second camera 14 together constitute the robot's visual perception unit, providing image data for remote monitoring by operators and automatic positioning by the control system.

[0037] The field of view of the first camera 13 covers the area where the clamping channel 301 of the clamping mechanism 30 is located. It is used to collect images of the process of the drainage line 70 being pulled into the clamping channel 301 by the pull rope 23 in real time, as well as images of the two first clamping plates 31 closing and clamping the drainage line 70. The operator can intuitively judge whether the drainage line 70 has been pulled into place and whether the clamping is firm and reliable by the returned images. The control system can also identify the edge contour or end position of the drainage line 70 based on this, providing coordinate reference for subsequent gripping.

[0038] The field of view of the second camera 14 covers the range of motion of the grasping control mechanism 50 and the grasping mechanism 40 it drives. It is used to collect position images of the two second clamping plates 41 relative to the drainage line 70, and to assist the grasping control mechanism 50 in making accurate position alignment when driving the two second clamping plates 41 to clamp the drainage line 70. This avoids collisions between the second clamping plates 41 and the drainage line 70 during the downward clamping process, or the drainage line 70 falling off or being damaged due to the tilted grasping position.

[0039] Understandably, the first camera 13 and the second camera 14 can also be connected to an image processing module to achieve automatic identification and positioning of the guide line 70 through algorithms such as edge recognition and feature matching, thereby further improving the accuracy of grasping and the automation level of the entire equipment. Furthermore, the number and installation position of the cameras are not limited to the above methods. For example, cameras facing the high-altitude guide line 80 can be added to the frame 10 for auxiliary walking positioning and obstacle recognition. These adaptive adjustments are all equivalent implementations of this application.

[0040] The drainage line 70 is located on the ground and needs to be pulled and lifted to a high altitude by the cable pulling mechanism 20. For example... Figure 6As shown, the wire pulling mechanism 20 is mounted on the frame 10 and includes a wire pulling drive assembly 21, a take-up reel 22 connected to the output end of the wire pulling drive assembly 21, and a pull rope 23 wound on the take-up reel 22 for pulling the guide wire 70. The wire pulling drive assembly 21 includes a first mounting bracket 211 fixed to one side of the frame 10, a wire pulling motor 212 fixed on the first mounting bracket 211, and a wire pulling coupling 213 connected to the output shaft of the wire pulling motor 212. The take-up reel 22 is provided with a rotating shaft 221, and the wire pulling motor 212 is connected to the rotating shaft 221 through the wire pulling coupling 213.

[0041] The cable pulling mechanism 20 is the power source for the guide cable 70 to enter the high-altitude operation position from the ground. Its working process is as follows: In the operation preparation stage, the workers on the ground reliably tie and fix the free end of the cable 23 to the end of the guide cable 70. Then, the cable pulling motor 212 is energized and its output torque is transmitted to the rotating shaft 221 of the take-up reel 22 through the cable pulling coupling 213, which drives the take-up reel 22 to rotate around its axis, thereby continuously winding the cable 23 onto the outer circumference of the take-up reel 22. As the cable 23 is continuously wound, the effective length of the cable 23 between the take-up reel 22 and the guide cable 70 is continuously shortened. The end of the guide cable 70 is pulled upward from the ground by the cable 23 until the exposed core of the guide cable 70 is accurately pulled into the clamping channel 301 of the clamping mechanism 30, completing the traction and loading of the guide cable 70.

[0042] The first mounting bracket 211 provides mounting support for the wire drawing motor 212 and the take-up reel 22. It is fixedly mounted on one side of the frame 10, so that the wire drawing mechanism 20 is arranged on the side of the frame 10. This layout facilitates the wire drawing 23 to hang naturally downwards to the ground after being led out from the take-up reel 22, avoiding interference between the wire drawing 23 and other mechanisms in the middle of the frame 10. It also provides more space for the maintenance and repair of the wire drawing mechanism 20. The wire drawing coupling 213 can compensate for the small coaxiality error and angular deviation that may exist between the output shaft of the wire drawing motor 212 and the rotating shaft 221 of the take-up reel 22, ensuring the smoothness of torque transmission, avoiding additional vibration or noise during transmission due to misalignment, and extending the service life of the wire drawing motor 212 and the take-up reel 22.

[0043] The cable pulling mechanism 20 also includes a cover 24. One end of the cover 24 is hinged to the first mounting bracket 211, and the other end is connected to the first mounting bracket 211 via a latch, allowing it to be opened and closed. The cover 24 is used to cover the take-up reel 22. When the cover 24 is fastened, it covers the take-up reel 22 inside, preventing debris, branches, and other objects from being caught in the field during the high-speed rotation of the take-up reel 22 when winding the cable 23. It also prevents rainwater and dust from directly adhering to the surface of the cable 23 and the take-up reel 22, thus preventing the cable 23 from becoming damp, moldy, or experiencing accelerated wear. When it is necessary to inspect the take-up reel 22, replace the cable 23, or deal with a cable jam, the operator only needs to open the latch and flip the cover 24 around the hinge point between the cover 24 and the first mounting bracket 211 to fully expose the take-up reel 22. The operation is very convenient and does not require disassembling the entire cable pulling mechanism 20.

[0044] The cable pulling mechanism 20 also includes guide wheels 25, which are mounted on the frame 10 and used to guide the cable path of the pull rope 23. The number of guide wheels 25 can be one or more, and their surfaces have annular grooves for the pull rope 23 to be inserted. After being drawn out from the take-up reel 22, the pull rope 23 first passes around the guide wheels 25 and then hangs down to the ground. The function of the guide wheels 25 is to change the direction of the pull rope 23: it guides the pull rope 23 from the tangential direction of its outward drawing from the take-up reel 22 to extend vertically downward or at other predetermined angles, allowing the pull rope 23 to avoid other components on the frame 10. This prevents the pull rope 23 from rubbing, snagging, or even wearing and breaking with the frame 10 or other mechanisms during winding and unwinding. Simultaneously, it makes the pulling direction of the pull rope 23 on the guide wire 70 more reasonable and the force distribution smoother.

[0045] After the drainage line 70 is pulled into the clamping channel 301, it needs to be temporarily fixed so that the subsequent gripping mechanism 40 can take over. This function is achieved by the clamping mechanism 30. Figure 7As shown, the clamping mechanism 30 is mounted on the frame 10 and includes two first clamping plates 31 and a clamping drive assembly 32 for driving the two first clamping plates 31 to open or close. A clamping channel 301 for the guide wire 70 to enter is formed between the two first clamping plates 31, and the two first clamping plates 31 are used to clamp the guide wire 70 entering the clamping channel 301. The clamping drive assembly 32 includes a second mounting bracket 321 fixed to one side of the frame 10, a clamping motor 322 fixed to the second mounting bracket 321, and a clamping motor 322 connected to the clamping motor. The machine 322 includes a clamping coupling 323 for the output shaft, a clamping screw 324 connected to the other end of the clamping coupling 323, and two clamping nut seats 325 threadedly engaged with the clamping screw 324. The clamping screw 324 has a first thread section and a second thread section with opposite thread directions. The two clamping nut seats 325 are respectively engaged with the first thread section and the second thread section, and the two clamping nut seats 325 are respectively fixed to the two first clamping plates 31, thereby driving the two first clamping plates 31 to close towards each other or open away from each other. The clamping channel 301 is formed between the two first clamping plates 31, and its inlet end can be configured as a trumpet-shaped, flared, or guided inclined structure to facilitate the smooth sliding of the guide wire 70 into the channel under the traction of the pull rope 23, without being stuck at the inlet.

[0046] When the clamping motor 322 is energized, it outputs rotational motion, and its torque is transmitted to the clamping screw 324 via the clamping coupling 323. Since the first thread section and the second thread section on the clamping screw 324 have opposite thread directions, when the clamping screw 324 rotates forward around its own axis, the two clamping nut seats 325 that are respectively engaged with the two thread sections drive the first clamping plates 31 connected to them to move towards each other along the clamping screw 324, and the clamping channel 301 gradually narrows. The two first clamping plates 31 eventually clamp the drain line 70 located therein. When the clamping motor 322 rotates in the opposite direction, the two first clamping plates 31 move away from each other, the clamping channel 301 opens, and the drain line 70 is released.

[0047] The method of using a single clamping screw 324 to simultaneously drive the opening and closing of two first clamping plates 31 has two significant advantages: First, since both first clamping plates 31 are driven by the same screw, their movements are highly synchronized, preventing clamping misalignment caused by one clamping plate moving first and the other moving later; Second, due to the symmetrical arrangement of the two threaded sections, the drain line 70 can automatically center itself in the clamping channel 301 during clamping, ensuring the consistency of the drain line 70's position after each clamping, creating favorable conditions for the subsequent accurate gripping by the grasping mechanism 40. Elastic pads or toothed structures can also be provided on the opposing inner clamping surfaces of the two first clamping plates 31: Elastic pads (such as rubber pads or polyurethane pads) are relatively soft, reliably clamping the drain line 70 while avoiding damage to the drain line 70's insulation or internal core; toothed structures significantly increase the friction between the clamping surface and the drain line 70, preventing the drain line 70 from sliding down the clamping channel 301 and falling off under its own weight or wind force. The second mounting bracket 321 provides a mounting base for components such as the clamping motor 322 and the clamping screw 324. It is fixed on one side of the frame 10, so that the clamping mechanism 30 is in a position that is convenient to cooperate with the wire pulling mechanism 20 and the gripping mechanism 40.

[0048] Of course, the above-described method of using a clamping motor 322 in conjunction with a clamping screw 324 with bidirectional reverse threads to drive the opening and closing of the two first clamping plates 31 is only a preferred embodiment of the clamping drive assembly 32 in this application. In other embodiments, the clamping drive assembly 32 may also use two independent cylinders or electric push rods to drive the two first clamping plates 31 to move towards or away from each other, or use a gear and rack synchronization mechanism, a cam pushing mechanism, a linkage mechanism, etc. to realize the opening and closing of the two first clamping plates 31. These structural modifications are all within the scope of protection claimed in this application.

[0049] After the drainage line 70 is clamped, it needs to be transferred to the gripping mechanism 40, which will hold it to complete the subsequent transfer and wiring operations. Figure 13As shown, the gripping mechanism 40 includes two second clamping plates 41 and a gripping drive assembly 42 for driving the two second clamping plates 41 to open or close. The two second clamping plates 41 are used to clamp the drain line 70 clamped by the two first clamping plates 31. The gripping drive assembly 42 includes a first sliding seat 421 that can slide along the X direction, a gripping motor 422 fixed on the first sliding seat 421, a gripping screw 423 connected to the output shaft of the gripping motor 422, and two gripping nut seats 424 that are threadedly engaged with the gripping screw 423. The gripping screw 423 has a third thread segment and a fourth thread segment with opposite thread directions. The two gripping nut seats 424 are engaged with the third thread segment and the fourth thread segment respectively, and the two gripping nut seats 424 are fixed to the two second clamping plates 41 respectively, thereby driving the two second clamping plates 41 to close towards each other or open away from each other. The function of the gripping mechanism 40 is to receive the drain wire 70 from the clamping mechanism 30 and, driven by the gripping control mechanism 50, move the drain wire 70 to the wiring mechanism 60, ultimately completing the insertion and connection. Its opening and closing driving principle is similar to that of the clamping mechanism 30: after the gripping motor 422 is energized, it drives the gripping screw 423 to rotate. Since the threads of the third and fourth thread sections on the gripping screw 423 are opposite in direction, the two gripping nut seats 424 that cooperate with it drive the two second clamping plates 41 to move towards each other along the gripping screw 423 and close, thereby clamping the drain wire 70; or they move away from each other and open, thereby releasing the drain wire 70.

[0050] The first sliding seat 421 provides an overall mounting base for the gripping motor 422, the gripping screw 423, and the two second clamping plates 41. At the same time, the first sliding seat 421 is set to slide along the X direction, which allows the gripping mechanism 40 to make fine adjustments in position along the X direction after clamping the guide wire 70, thereby more accurately aligning the exposed core of the guide wire 70 and sending it into the guide wire groove 902 of the guide wire clamp 90, compensating for the slight deviations generated during the alignment process.

[0051] In actual operation, the handover process of the guide line 70 adopts a first-to-last handover action: the gripping control mechanism 50 first drives the gripping mechanism 40 to move to the side of the clamping mechanism 30, the two second clamping plates 41 close and reliably clamp the guide line 70, and then the two first clamping plates 31 open to release the guide line 70. This first-to-last handover method ensures that the guide line 70 is constrained by a certain mechanism throughout the entire handover process, and will not swing, droop or even fall due to its own weight due to the instantaneous loss of constraint, which significantly improves the reliability and safety of high-altitude operations.

[0052] The spatial displacement and attitude adjustment of the gripping mechanism 40 and the wiring mechanism 60 are uniformly completed by the gripping control mechanism 50. For example... Figure 8 , Figure 9 and Figure 10As shown, the gripping control mechanism 50 is located on the frame 10 and connected to the gripping mechanism 40, and is used to drive the gripping mechanism 40 to move so that the two second clamping plates 41 clamp the drain line 70. The gripping control mechanism 50 includes a mounting base 51, a Z-axis drive assembly 52, a sliding frame 53, a swing assembly 54, a Y-axis drive assembly 55, and an X-axis drive assembly 56. The mounting base 51 is fixed to one side of the frame 10. The Z-axis drive assembly 52 is disposed on the mounting base 51 and has an output end for driving along the Z direction. The sliding frame 53 is connected to the output end of the Z-axis drive assembly 52. ​​The swing assembly 54 includes a swing frame 541 and a first telescopic actuator 542. One end of the swing frame 541 is hinged to the sliding frame 53, the body of the first telescopic actuator 542 is hinged to the sliding frame 53, and the drive rod of the first telescopic actuator 542 is hinged to the middle of the swing frame 541. The Y-axis drive assembly 55 is fixed to the other end of the swing frame 541 and has an output end for driving along the Y direction. The X-axis drive assembly 56 is connected to the output end of the Y-axis drive assembly 55 and is used to drive the gripping mechanism 40 along the X direction.

[0053] The gripping control mechanism 50 is essentially a robotic arm that provides multi-degree-of-freedom spatial displacement for the gripping mechanism 40 and the wiring mechanism 60. The precision and flexibility of its movements directly determine the alignment accuracy of the guide wire 70 and the final wiring quality. The mounting base 51 is fixedly installed on one side of the frame 10 and serves as the supporting foundation for the entire gripping control mechanism 50. The Z-axis drive assembly 52 is used to drive the sliding frame 53 to move up and down in the vertical direction (i.e., the Z-axis). Its function is to adjust the height position of the gripping mechanism 40 relative to the high-altitude conductor 80: when gripping the guide wire 70, the Z-axis drive assembly 52 drives the sliding frame 53 to lower the subsequent components, allowing the gripping mechanism 40 to approach the clamped guide wire 70 from top to bottom; during wiring, it can also send the guide wire 70 and the guide wire clamp 90 from bottom to top to the height of the high-altitude conductor 80.

[0054] The swing assembly 54 provides a swing degree of freedom for the entire robotic arm: when the drive rod of the first telescopic actuator 542 extends or retracts, it can push the swing frame 541 to swing around its hinge point with the sliding frame 53, thereby adjusting the tilt angle of the swing frame 541 relative to the horizontal plane. This swing degree of freedom has two important functions: on the one hand, it allows the gripping mechanism 40 to approach the guide wire 70 or the guide wire clamp 90 at a certain tilted posture, thereby avoiding other line components or obstacles that may exist below the high-altitude conductor 80; on the other hand, it allows the guide wire clamp 90, which is pre-installed on the wiring mechanism 60, to engage with the exposed core of the high-altitude conductor 80 at the most suitable angle, ensuring smooth engagement between the conductor groove 901 and the high-altitude conductor 80. The Y-axis drive assembly 55 is fixedly mounted on the swing frame 541 and is used to drive the components at its output end to move along the Y direction (i.e., the axial direction of the guide wire clamp 90 bolt 93), so as to achieve precise lateral alignment of the guide wire clamp 90 relative to the guide wire 70 or the high-altitude conductor 80. The X-axis drive assembly 56 is connected to the output end of the Y-axis drive assembly 55 and is used to drive the gripping mechanism 40 to move along the X-axis. Its function is reflected in two aspects: first, it drives the gripping mechanism 40 to make fine adjustments to its position along the X-axis when gripping the guide wire 70, so that the gripping point is more reasonable; second, during the wiring stage, it smoothly inserts the exposed core of the guide wire 70 held by the gripping mechanism 40 into the guide wire groove 902 of the guide wire clamp 90 along the X-axis. The Z-axis drive assembly 52, Y-axis drive assembly 55, and X-axis drive assembly 56 can all be linear modules composed of a motor-driven lead screw and nut pair or a synchronous belt drive. These linear modules have the advantages of high positioning accuracy, smooth movement, compact structure, and easy control, and are very suitable for use on high-altitude live-line working robots.

[0055] The final assembly of the drain line 70, drain line clamp 90, and high-altitude conductor 80, and the tightening of bolts 93, are completed by the wiring mechanism 60. Please refer to [reference needed]. Figure 11 and Figure 12 The wiring mechanism 60 is connected to the gripping control mechanism 50. The wiring mechanism 60 includes a housing 61, a locking assembly 62, and a tightening assembly 63. The housing 61 has an inner cavity 612. One end of the housing 61 along the Y direction is provided with a through hole 611 communicating with the inner cavity 612. The through hole 611 corresponds to the position of the bolt 93 on the drain clamp 90. The locking assembly 62 includes two grippers 621 respectively provided on both sides of the through hole 611 in the X direction and a locking driver for driving the two grippers 621 to clamp or loosen the drain clamp 90. The tightening assembly 63 includes a tightening motor 631 fixed in the inner cavity 612 and a bolt sleeve 632 that is drivenly connected to the output shaft of the tightening motor 631. The bolt sleeve 632 can extend along the Y direction through the through hole 611 to the outside of the housing 61 and engage with the bolt 93 of the drain clamp 90.

[0056] The wiring mechanism 60 is the execution terminal that realizes the automatic assembly of the drain clamp 90 with the high-altitude conductor 80 and the drain line 70. Its operation process is as follows: before the robot rises to the high altitude, the drain clamp 90 is pre-assembled on the ground; the drain clamp 90 is placed on one side of the housing 61 along the Y direction, so that the bolt 93 on the drain clamp 90 is roughly aligned with the through hole 611 on the housing 61. Then the locking driver is activated, driving the two grippers 621 to clamp the clamp body 91 of the drain clamp 90 in opposite directions, thereby temporarily and reliably fixing the drain clamp 90 to the housing 61.

[0057] Pre-assembly of the drain clamp 90 on the ground can significantly reduce the difficulty and risk of high-altitude assembly, and ground workers have ample time and good operating conditions to ensure pre-assembly accuracy. The gripper 621 is rotatably mounted on the housing 61 via the first rotating shaft 622. When the locking driver uses an electric push rod, the body of the electric push rod is hinged to the housing 61, and the drive rod is hinged to the gripper 621. When the drive rod of the electric push rod extends or retracts, it drives the gripper 621 to rotate around the first rotating shaft 622, thereby realizing the opening and clamping action of the two grippers 621. Its structure is simple and the clamping force is controllable. During the wiring operation, the gripping control mechanism 50 drives the wiring mechanism 60 to move, causing the wire groove 901 of the drain clamp 90 to engage with the exposed core of the high-altitude conductor 80. Subsequently, the X-axis drive assembly 56 inserts the exposed core of the drain wire 70 into the drain groove 902 along the X direction. Then, the tightening motor 631 is activated, and its output torque is transmitted to the bolt sleeve 632. The bolt sleeve 632 extends outward from the outer side of the housing 61 along the Y direction through the through hole 611. The inner hole at its end engages with the head of the bolt 93 of the drain clamp 90. As the bolt sleeve 632 continues to rotate, it drives the bolt 93 to rotate synchronously and gradually tighten, causing the movable clamp 94 to move toward the fixed clamp 92. Finally, the high-altitude conductor 80 and the drain wire 70 are clamped together in the wire groove 901 and the drain groove 902, completing the live connection.

[0058] Please refer to Figure 11 Considering that there may be certain machining and assembly errors in the position of bolt 93 on the drain clamp 90, if a rigid connection is used between bolt sleeve 632 and bolt 93, misalignment or jamming of the sleeve and bolt 93 may easily occur during alignment, potentially damaging bolt 93 or tightening motor 631. Therefore, this application provides a floating buffer structure, namely spring 634, between bolt sleeve 632 and tightening motor 631. The output shaft of tightening motor 631 has a shaft hole 6311, and one end of bolt sleeve 632 is connected to a key shaft 633, which is movably fitted with shaft hole 6311 in the Y direction. A spring 634 is also sleeved on the outside of key shaft 633, located between the output shaft of tightening motor 631 and bolt sleeve 632.

[0059] Specifically, the key shaft 633 is inserted into the shaft hole 6311 and can slide axially relative to the shaft hole 6311 along the Y direction for a certain distance. This allows the bolt sleeve 632 to float axially relative to the tightening motor 631. Simultaneously, the key shaft 633 and the shaft hole 6311 are fitted using a flat key, spline, or irregular cross-section, thus allowing axial floating while reliably transmitting rotational torque without circumferential slippage. A spring 634 is sleeved on the outside of the key shaft 633, with one end abutting or near the output shaft end face of the tightening motor 631, and the other end abutting against the bolt sleeve 632. Its elastic force consistently pushes the bolt sleeve 632 elastically in the extending direction. When the bolt sleeve 632 extends under the drive of the tightening motor 631 and contacts the bolt 93, if there is a small axial positional deviation between the two, the bolt sleeve 632 will adaptively extend and retract under the elastic force of the spring 634 until the inner hole of the sleeve is reliably engaged with the head of the bolt 93, thereby achieving centering and correction. In the subsequent tightening process, as the bolt 93 is gradually tightened, the bolt 93 will have a small axial displacement. At this time, the spring 634 can synchronously compensate for this axial displacement, so that the bolt sleeve 632 always maintains a stable engagement with the bolt 93, avoiding disengagement or jamming during tightening.

[0060] Please refer to Figure 9 To facilitate real-time observation of the engagement and fitting of the high-altitude conductor 80 and the guide clamp 90, the wiring mechanism 60 also includes a third camera 64, which is fixed to the upper end of the housing 61 and faces the locking component 62. The guide clamp 90 is pre-clamped on the Y-direction side of the housing 61 on the ground and clamped by the gripper 621 of the locking component 62. During the wiring operation, the gripping control mechanism 50 drives the wiring mechanism 60 to move as a whole, so that the conductor groove 901 of the guide clamp 90 aligns with and engages with the exposed core of the high-altitude conductor 80. Due to the sag of the high-altitude conductor 80 and the swaying caused by wind, coupled with the positioning error of the robot itself, the relative position between the conductor groove 901 and the high-altitude conductor 80 is often difficult to guarantee by mechanical positioning alone. If the alignment is inaccurate, at best the conductor groove 901 will not be able to engage with the high-altitude conductor 80 smoothly, and at worst, the guide clamp 90 will collide, deviate, or even fall off the high-altitude conductor 80.

[0061] To this end, this application provides a third camera 64 on the wiring mechanism 60. The field of view of the third camera 64 is directed toward the locking component 62 and the pre-installed guide wire clamp 90, mainly used to acquire alignment images of the guide wire groove 901 of the guide wire clamp 90 and the high-altitude conductor 80. Before the control system drives the wiring mechanism 60 to perform the clamping action, the third camera 64 first captures images of the guide wire groove 901 and the high-altitude conductor 80. The deviation between the groove opening position of the guide wire groove 901 and the actual spatial position of the high-altitude conductor 80 is calculated by the image recognition algorithm. Based on this, the Z-axis drive component 52, the swing component 54, the Y-axis drive component 55 and the X-axis drive component 56 of the gripping control mechanism 50 are used to finely adjust the attitude and position of the wiring mechanism 60 so that the groove opening of the guide wire groove 901 is accurately aligned with the high-altitude conductor 80. Then, the wiring mechanism 60 is driven to move so that the exposed wire core of the high-altitude conductor 80 is smoothly clamped into the guide wire groove 901. During the mounting process, the third camera 64 can continuously record to determine whether the high-altitude conductor 80 has been fully inserted into the bottom of the conductor groove 901, avoiding defects such as the conductor not being properly inserted, uneven force, or misalignment. After S7 tightens and secures the connection, it can also record again to verify the final assembly status of the drain clamp 90 and the high-altitude conductor 80. The third camera 64 is fixedly mounted on the upper part of the housing 61. This mounting position allows it to observe the area where the drain clamp 90 is located from a top-down angle, obtaining a relatively complete and unobstructed field of view, thereby improving the reliability of image recognition.

[0062] This embodiment also discloses a method for pulling and raising a drainage line, which uses a drainage line pulling and raising device and includes the following steps: S1. Connect the pull rope 23 to the end of the drain line 70, and wind up the pull rope 23 through the take-up reel 22 to pull the drain line 70 into the clamping channel 301; S2, the two first clamps 31 close to clamp the drainage line 70, and the pull rope 23 continues to be wound up and disengages from the drainage line 70; S3. The gripping control mechanism 50 drives the gripping mechanism 40 to move to one side of the clamping mechanism 30, and the two second clamping plates 41 clamp the drainage line 70, while the two first clamping plates 31 release the drainage line 70.

[0063] In the above method steps, S1 fully utilizes the flexible traction characteristics of the pull rope 23, with the pull mechanism 20 providing the winding power to continuously lift the guide line 70 located on the ground to a high altitude in the vertical direction, thereby eliminating the heavy labor and high-altitude risks of manually dragging the guide line 70 up the tower; in S2, after the two first clamping plates 31 have clamped the guide line 70, the pull rope 23 continues to be wound by the winding reel 22, which continuously increases the tension on the binding point of the pull rope 23 and the end of the guide line 70, eventually causing the binding point to loosen or the end of the guide line 70 to slide out of the binding, thereby achieving automatic separation of the pull rope 23 from the guide line 70. Of course, the operator can also untie the pull rope 23 on the ground. Regardless of the method used, no personnel are required to climb to a height to operate; S3 achieves a smooth handover of the guide line 70 from the clamping mechanism 30 to the gripping mechanism 40, adopting a first-hand-then-release sequence, which prepares for subsequent transfer and connection processes.

[0064] Connecting the actions of the above-mentioned mechanisms in chronological order constitutes the complete workflow of the live-line welding robot of this application, as follows: A1 Ground Pre-installation: The drain wire clamp 90 is installed on the Y-direction side of the housing 61 of the wiring mechanism 60 and is clamped by the locking assembly 62; A2 is in place: The lifting and traction mechanism 12 lifts the frame 10 to the high-altitude guide wire 80, and the traveling wheels 114 are placed on the high-altitude guide wire 80; A3 Traction Drainage Line: Tie the pull rope 23 to the end of the drainage line 70, and the winding reel 22 winds up the pull rope 23 to pull the drainage line 70 into the clamping channel 301; the clamping drive assembly 32 drives the two first clamping plates 31 to close and clamp the drainage line 70, and the pull rope 23 continues to be wound up and disengages from the drainage line 70. A4 Drainage Line Handover: The gripping control mechanism 50 drives the gripping mechanism 40 to move to one side of the clamping mechanism 30, the two second clamping plates 41 clamp the drainage line 70, and the two first clamping plates 31 release the drainage line 70. A5 clamp alignment: The Z-axis drive assembly 52, swing assembly 54, Y-axis drive assembly 55, and X-axis drive assembly 56 of the gripping control mechanism 50 work together to move the wiring mechanism 60, so that the wire groove 901 of the guide clamp 90 is engaged with the exposed wire core of the high-altitude wire 80. A6 insertion: The X-axis drive assembly 56 inserts the exposed core of the drain wire 70 into the drain wire groove 902 of the drain wire clamp 90 along the X direction; A7 Tightening and Fixing: Tightening motor 631 drives bolt sleeve 632 to extend along the Y direction through through hole 611, engage with bolt 93 of drain line clamp 90 and rotate to tighten, movable clamp 94 moves toward fixed clamp 92, clamping high-altitude wire 80 and drain line 70 together. A8 Disengagement and Reset: Locking component 62 releases the drain wire clamp 90, gripping mechanism 40 releases the drain wire 70, and drain wire clamp 90 disengages from housing 61; gripping control mechanism 50 drives wiring mechanism 60 and gripping mechanism 40 to avoid high-altitude wire 80 and reset.

[0065] The above-described embodiments are merely illustrative of several specific implementations of the present invention, and while the descriptions are detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention.

Claims

1. A device for pulling and loading a drainage line, characterized in that, include: Rack (10); A wire pulling mechanism (20) is provided on the frame (10) and includes a wire pulling drive assembly (21), a take-up reel (22) connected to the output end of the wire pulling drive assembly (21), and a pull rope (23) wound on the take-up reel (22) and used to pull the guide wire (70). A clamping mechanism (30) is provided on the frame (10), including two first clamping plates (31) and a clamping drive assembly (32) for driving the two first clamping plates (31) to open or close. A clamping channel (301) for the guide wire (70) to enter is formed between the two first clamping plates (31), and the two first clamping plates (31) are used to clamp the guide wire (70) entering the clamping channel (301). The gripping mechanism (40) includes two second clamping plates (41) and a gripping drive assembly (42) for driving the two second clamping plates (41) to open or close, the two second clamping plates (41) for gripping the drain line (70) clamped by the two first clamping plates (31); A gripping control mechanism (50) is provided on the frame (10) and connected to the gripping mechanism (40) for driving the gripping mechanism (40) to move so that the two second clamping plates (41) clamp the drain line (70).

2. The drain line traction device according to claim 1, characterized in that, The grasping control mechanism (50) includes: Mounting base (51) is fixed to one side of the frame (10); Z-axis drive assembly (52), provided on the mounting base (51), has an output end for driving along the Z direction; A sliding frame (53) is connected to the output end of the Z-axis drive assembly (52); The swing assembly (54) includes a swing frame (541) and a first telescopic actuator (542). One end of the swing frame (541) is hinged to the sliding frame (53). The body of the first telescopic actuator (542) is hinged to the sliding frame (53). The drive rod of the first telescopic actuator (542) is hinged to the middle of the swing frame (541). The Y-axis drive assembly (55) is fixed to the other end of the swing frame (541) and has an output end for driving along the Y direction; The X-axis drive assembly (56) is connected to the output end of the Y-axis drive assembly (55) and is used to drive the gripping mechanism (40) along the X direction.

3. The drain line traction device according to claim 1, characterized in that, Two sets of walking mechanisms (11) are arranged side by side along the X direction on the frame (10). Each set of walking mechanisms (11) includes a second telescopic driver (111), a swing arm (112), a walking drive motor (113), and a walking wheel (114). The body of the second telescopic driver (111) is hinged to the frame (10), the drive rod of the second telescopic driver (111) is hinged to the swing arm (112), the walking drive motor (113) is fixed to the swing arm (112), the walking wheel (114) is connected to the output end of the walking drive motor (113), and the walking wheel (114) can travel along the high-altitude guide wire (80).

4. The drain line traction device according to claim 1, characterized in that, The frame (10) is also provided with a lifting and traction mechanism (12), which includes: The lifting drive device is fixed inside the frame (10); The lifting reel is located inside the frame (10) and is driven to rotate by the lifting drive device; A fixed frame (121) is fixed on the frame (10); A wire hanger (122) is used to hang high-altitude conductors (80); The traction rope (123) has one end wound around the lifting reel and the other end wrapped around the hanging frame (122) and detachably connected to the fixed frame (121); when the lifting reel winds up the traction rope (123), it drives the frame (10) to rise and fall.

5. The drain line traction device according to claim 1, characterized in that, The frame (10) is equipped with a first camera (13) and a second camera (14); the first camera (13) faces the clamping mechanism (30); the second camera (14) faces the gripping control mechanism (50).

6. A method for pulling a drainage line onto a guideline, characterized in that, The method of using the drain line traction device according to any one of claims 1 to 5 includes the following steps: S1. Connect the pull rope (23) to the end of the drain line (70), and wind up the pull rope (23) through the take-up reel (22) to pull the drain line (70) into the clamping channel (301); S2, the two first clamps (31) close to clamp the drain line (70), and the pull rope (23) continues to be wound up and disengaged from the drain line (70); S3. The gripping control mechanism (50) drives the gripping mechanism (40) to move to one side of the clamping mechanism (30), the two second clamping plates (41) clamp the drain line (70), and the two first clamping plates (31) release the drain line (70).

7. A live-line welding robot, characterized in that, include: The drain line traction device as described in any one of claims 1 to 5; A wiring mechanism (60), connected to the gripping control mechanism (50), includes: The outer shell (61) has an inner cavity (612). One end of the outer shell (61) along the Y direction is provided with a through hole (611) communicating with the inner cavity (612). The through hole (611) corresponds to the position of the bolt (93) on the drain clamp (90). The locking assembly (62) includes two jaws (621) respectively disposed on both sides of the through hole (611) in the X direction and a locking driver for driving the two jaws (621) to clamp or release the drain line clamp (90); The tightening assembly (63) includes a tightening motor (631) fixed in the inner cavity (612) and a bolt sleeve (632) drivenly connected to the output shaft of the tightening motor (631). The bolt sleeve (632) can extend along the Y direction through the through hole (611) to the outside of the outer shell (61) and engage with the bolt (93) of the drain clamp (90).

8. The live-fire robot according to claim 7, characterized in that, The locking actuator includes an electric push rod disposed in the inner cavity (612), the gripper (621) is rotatably disposed on the outer shell (61) via a first rotating shaft (622), the body of the electric push rod is hinged to the outer shell (61), and the drive rod of the electric push rod is hinged to the gripper (621).

9. The live-line welding robot according to claim 7, characterized in that, The output shaft of the tightening motor (631) is provided with a shaft hole (6311), and one end of the bolt sleeve (632) is connected to a key shaft (633). The key shaft (633) and the shaft hole (6311) are movably fitted in the Y direction. A spring (634) is also sleeved on the outside of the key shaft (633), and the spring (634) is located between the output shaft of the tightening motor (631) and the bolt sleeve (632).

10. The live-fire robot according to claim 7, characterized in that, The wiring mechanism (60) also includes a third camera (64), which is fixed to the upper end of the housing (61) and is positioned facing the locking assembly (62).

Images