Online and offline device for self-walking obstacle avoidance robot of contact network

Abstract

The utility model relates to the technical field of catenary detection, and particularly discloses an on-off line device of a catenary self-walking obstacle avoidance robot, which comprises an obstacle avoidance robot and two on-off line structures, and the two on-off line structures are asymmetrically mounted on the front side and the rear side of the obstacle avoidance robot respectively; the upper and lower line structure comprises two rotating motors, and the two rotating motors are asymmetrically installed on the front side and the rear side of the obstacle avoidance robot correspondingly; the two lifting motors are asymmetrically installed on the two sides of the obstacle avoidance robot correspondingly and located at the bottom ends of the rotating motors correspondingly; according to the device, the automatic loading and unloading function of the robot is effectively achieved, and meanwhile high efficiency and high safety in the operation process are guaranteed. A rotating motor and a lifting motor in the device work cooperatively, through power transmission and control, it is ensured that the robot can be fed and discharged on a contact line according to the actual situation, and manual intervention is not needed.

Description

Technical Field

[0001] This utility model relates to the field of overhead contact line detection technology, specifically to an overhead contact line self-propelled obstacle avoidance robot's loading and unloading device. Background Technology

[0002] The overhead contact system is a special type of power transmission line that supplies electricity to electric locomotives, erected along the railway line. As a crucial infrastructure ensuring the reliable operation of electrified railways, the overhead contact system has many components and a complex structure. Due to normal natural environment, long-term operational vibrations, and electrochemical effects caused by sliding contact, its maintenance cycle is relatively short, and it requires specialized expertise.

[0003] The contact wire is positioned at a height of 5.2–6.5 meters above the ground. Common inspection methods include walking and vehicle-mounted inspections. This relies primarily on visual inspection by workers, which is labor-intensive and prone to omissions and errors. Recently developed self-propelled obstacle avoidance robots for overhead contact lines can walk on the contact wire and automatically detect the condition of the overhead contact line. However, they cannot automatically mount or dismount, requiring manual installation or removal via a ladder truck. This not only increases the complexity of the operation but also reduces efficiency and increases the safety risks of manual operation. Therefore, existing self-propelled obstacle avoidance robot technology for overhead contact lines has significant shortcomings in automation, stability, and obstacle avoidance capabilities, necessitating a new type of mounting and dismounting device for obstacle avoidance robots to improve operational convenience and safety.

[0004] In the field of power system maintenance, overhead conductor robots are widely used to perform various inspection and maintenance tasks. These robots are typically equipped with a loading / unloading device to enable automated transfer from the ground to the conductor. Existing loading / unloading devices mainly employ a combination of hooks and ropes, with the hooks being secured to the overhead conductors high in the air by manual labor or drones. Once the hooks are secured, the robot uses an internal motor to drive a winding reel, causing the connected rope to retract, thus enabling the robot to load onto the conductor. This device plays a crucial role in the routine inspection and maintenance of power lines, especially in areas that require traversing long distances or are difficult to access manually.

[0005] However, existing technologies have limited automation capabilities, primarily due to the lack of a direct structural connection between the hook and the robot body. This results in the hook remaining attached to the conductor while operating on the power line, affecting the robot's stability and safety. Furthermore, when encountering obstacles on the conductor, the robot cannot automatically avoid them, requiring manual intervention for tedious operations such as unhooking, repositioning, and remounting. Therefore, existing automatic loading and unloading technologies for overhead power line robots in power systems have significant shortcomings in terms of automation, stability, and obstacle avoidance capabilities. Utility Model Content

[0006] The purpose of this invention is to provide a loading and unloading device for a self-propelled obstacle avoidance robot for overhead contact lines, so as to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, this utility model provides the following technical solution: a loading and unloading device for a self-propelled obstacle avoidance robot for overhead contact lines, comprising: an obstacle avoidance robot and loading and unloading structures, wherein two loading and unloading structures are asymmetrically installed on the front and rear sides of the obstacle avoidance robot; each loading and unloading structure comprises: a rotary motor, wherein two rotary motors are asymmetrically installed on the front and rear sides of the obstacle avoidance robot; a lifting motor, wherein two lifting motors are asymmetrically installed on both sides of the obstacle avoidance robot and are respectively located at the bottom end of the rotary motor; a worm gear assembly, wherein two worm gear assemblies are respectively installed on the drive ends of the rotary motor and the lifting motor; a load-bearing mechanism, wherein the load-bearing mechanism is installed on the worm gear assembly connected to the rotary motor; and a winding mechanism, wherein the winding mechanism is disposed on the worm gear assembly connected to the lifting motor.

[0008] In one feasible implementation, the load-bearing mechanism includes: a hook seat, two hook seats respectively mounted on the drive ends of the two rotary motors via worm gears; and a hook assembly, two hook assemblies that engage with the two hook seats after the machine is put on the line and disengage during the loading and unloading process.

[0009] In one feasible embodiment, the hook seat includes: a fixed seat disposed at the output end of a rotary motor; a rotating shaft rotatably disposed on the fixed seat via bearings, with one end mounted on a worm gear assembly connected to the rotary motor and perpendicular to the output shaft of the rotary motor; a guide groove disposed on one side of the fixed seat; a hook seat body disposed on the other end of the rotating shaft; a guide rod, one end of which is embedded in the inner side of the guide groove; a pressure block disposed on the other end of the guide rod and mounted on the hook seat body via a guide post and guide sleeve; a magnet disposed on one side of the hook seat body; and two pulleys disposed at the bottom end of the hook seat body.

[0010] In one feasible embodiment, the winding mechanism includes: a mounting frame disposed at the bottom and one side of the lifting motor; a winding reel rotatably disposed on two of the mounting frames, one end of which is connected to the drive end of the lifting motor via a worm gear assembly; a cable organizer movably disposed on the mounting frame and connected to the winding reel via a linkage assembly; and a pull rope, one end of which passes through a pulley and the cable organizer and is fixedly connected to the winding reel.

[0011] In one feasible implementation, the hook assembly includes: a hook body, which is fixedly connected to the other end of the pull rope and selectively overlaps with the hook seat via a pressure block and a magnet; an operating block, which is mounted on the side of the hook body; and rollers, two of which are respectively mounted on the hook body via bearings, allowing the hook to slide freely on the contact line.

[0012] In one feasible implementation, the linkage component includes: a reciprocating lead screw, which is rotatably mounted on a mounting frame and screwed to a winding reel; and two gears, which are respectively mounted on the ends of the reciprocating lead screw and the winding reel, thereby enabling linkage between the reciprocating lead screw, the cable organizer, and the winding reel.

[0013] Compared with existing technologies, the beneficial effects of this invention are: This device effectively realizes the automatic loading and unloading function of the robot, while ensuring high efficiency and high safety during operation. The rotary motor and lifting motor in the device work together, and through power transmission and control, ensure that the robot can load and unload onto the contact wire according to the actual situation without manual intervention. Automated operation not only improves the positioning accuracy and operational stability of the loading and unloading process, but also ensures operational safety and avoids the risks of working at heights. It allows a single person to complete the entire operation, greatly reducing the labor intensity of operators and improving the convenience of operation. Through this innovative loading and unloading device, the robot can move freely on the contact wire and automatically avoid obstacles without affecting its main functions, thereby improving the automation level of the entire product. Attached Figure Description

[0014] Figure 1 This is a three-dimensional assembly drawing of the present utility model;

[0015] Figure 2 This is a partial structural schematic diagram of the present invention;

[0016] Figure 3 This is a three-dimensional structural diagram of the hook assembly of this utility model;

[0017] Figure 4 This is a three-dimensional structural diagram of the hook base of this utility model;

[0018] Figure 5 This is a schematic diagram of the winding mechanism and linkage component of this utility model;

[0019] Figure 6 This is a schematic diagram of the hook body and the contact wire overlap structure of this utility model.

[0020] In the diagram: 1. Obstacle avoidance robot; 2. Upper and lower line structure; 21. Rotary motor; 22. Lifting motor; 23. Worm gear assembly; 24. Load-bearing mechanism; 25. Winding mechanism; 241. Hook seat; 242. Hook assembly; 243. Linkage assembly; 251. Mounting frame; 252. Winding reel; 253. Cable organizer; 254. Pull rope; 2411. Fixing base; 2412. Rotating shaft; 2413. Guide groove; 2414. Hook seat body; 2415. Guide rod; 2416. Pressure block; 2417. Magnet; 2418. Pulley; 2421. Hook body; 2422. Operating block; 2423. Roller; 2431. Reciprocating screw; 2432. Gear. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0022] Please see Figures 1 to 6 This utility model provides a technical solution: a top and bottom line device for a self-propelled obstacle avoidance robot of a contact network, comprising: an obstacle avoidance robot 1 and a top and bottom line structure 2, wherein the two top and bottom line structures 2 are respectively asymmetrically installed on the front and rear sides of the obstacle avoidance robot 1.

[0023] The upper and lower wire structure 2 includes: a rotary motor 21, a lifting motor 22, a worm gear assembly 23, a load-bearing mechanism 24, and a winding mechanism 25. The two rotary motors 21 are asymmetrically installed on the front and rear sides of the obstacle avoidance robot 1, respectively; the two lifting motors 22 are asymmetrically installed on both sides of the obstacle avoidance robot 1, and are located at the bottom end of the rotary motors 21, respectively; the two worm gear assemblies 23 are respectively installed on the drive ends of the rotary motors 21 and the lifting motors 22; the load-bearing mechanism 24 is installed on the worm gear assembly 23 connected to the rotary motors 21; and the winding mechanism 25 is installed on the worm gear assembly 23 connected to the lifting motors 22.

[0024] It should be noted that when the obstacle avoidance robot 1 is ready to go online, the hook assembly 242 in the load-bearing mechanism 24 is first attached to the contact line. Then, the online procedure is started. The lifting motor 22 drives the winding mechanism 25 through the worm gear assembly 23 connected to the lifting motor 22, thereby tightening the pull rope 254 and controlling the upward movement of the obstacle avoidance robot 1. When the obstacle avoidance robot 1 goes offline, the lifting motor 22 drives the worm gear to rotate, realizing the downward movement of the obstacle avoidance robot 1. During the upward or downward movement of the obstacle avoidance robot 1, the precise control of the lifting motor 22 ensures the smooth movement of the obstacle avoidance robot 1, while the rotary motor 21 ensures that the hook assembly 242 can effectively interact with the contact line and the hook seat 241 to complete the online and offline tasks, enabling the contact network obstacle avoidance robot 1 to safely and efficiently complete the online and offline operations of the contact network.

[0025] In some examples, the load-bearing mechanism 24 further includes: hook seat 241 and hook assembly 242. The two hook seats 241 are respectively mounted on the drive ends of the two rotary motors 21 via worm gear assembly 23. The two hook assemblies 242 are connected to the two hook seats 241 as a whole after being loaded onto the line, and are disengaged during loading and unloading.

[0026] It should be noted that the operator hooks the operating block 2422 with an auxiliary rod, so that the hook assembly 242 can be accurately attached to the contact line. The roller 2423 on the hook assembly 242 remains connected to the contact line. When the machine goes online, it relies on the robot's own gravity to ensure that the pull ropes 254 of the upper and lower line systems on both sides and the hook assembly 242 are automatically adjusted to a vertical state, so as to provide automatic alignment and positioning of the hook assembly 242 and hook seat 241 for the obstacle avoidance robot 1 during the ascent process.

[0027] In some examples, the hook seat 241 further includes: a fixed seat 2411, a rotating shaft 2412, a guide groove 2413, a hook seat body 2414, a guide rod 2415, a pressure block 2416, a magnet 2417, and a pulley 2418. The fixed seat 2411 is disposed at the output end of the rotary motor 21. The rotating shaft 2412 is rotatably disposed on the fixed seat 2411 via bearings, and one end is mounted on the worm gear assembly 23 connected to the rotary motor 21. The output shaft of 1 is perpendicular to the shaft; the guide groove 2413 is installed on one side of the fixed seat 2411; the hook seat body 2414 is installed on the other end of the rotating shaft 2412; one end of the guide rod 2415 is embedded in the inner side of the slide groove of the guide groove 2413; the pressure block 2416 is installed on the other end of the guide rod 2415 and is installed on the hook seat body 2414 through the guide post and guide sleeve; the magnet 2417 is set on one side of the hook seat body 2414; two pulleys 2418 are respectively set at the bottom end of the hook seat body 2414.

[0028] It should be noted that the mounting base 2411 provides installation space and support points for the worm gear assembly 23 and the rotating shaft 2412. The rotating shaft 2412 is connected to the output shaft of the rotary motor 21 via the worm gear assembly 23, ensuring that the power of the rotary motor 21 can be transmitted through the rotating shaft 2412. The guide groove 2413 allows the guide rod 2415 to slide along a groove set inside the guide groove 2413. The hook seat body 2414 is fixedly connected to the rotating shaft 2412. The pressure block 2416 is mounted on the hook seat body 2414 via guide posts and guide sleeves, and the guide rod 2415 is fixedly connected. The rotary motor 21 rotates, driving the rotating shaft 2412, hook seat body 2414, pressure block 2416, and guide rod 2415 to rotate via the worm gear assembly 23. Simultaneously, the guide rod 2415 slides within a groove set in the guide slot 2413, allowing the pressure block 2416 and hook seat body 2414 to slide along the guide post and guide sleeve direction, thereby enabling the hook seat 241 to engage or disengage from the hook assembly 242. A magnet 2417 enhances the engagement force between the hook seat 241 and the hook assembly 242. A pulley 2418 reduces friction on the pull rope 254 during the winding and unwinding process.

[0029] In some examples, the hook assembly 242 further includes: a hook body 2421, an operating block 2422, and rollers 2423. The hook body 2421 is fixedly connected to the other end of the pull rope 254 and selectively overlaps with the hook seat 241 through a pressure block 2416 and a magnet 2417. The operating block 2422 is mounted on the side of the hook body 2421. The two rollers 2423 are respectively mounted on the hook body 2421 through bearings, allowing the hook to slide freely on the contact line.

[0030] It should be noted that the hook body 2421 is in direct contact with the contact line and selectively overlaps with the pressure block 2416 and the magnet 2417 to ensure a stable connection or safe disengagement between the hook body 2421 and the hook seat 241. The operating block 2422 is installed on the side of the hook body 2421, providing a convenient handle for operators. When the obstacle avoidance robot 1 is moving up or down the line, operators can use the auxiliary rod to hook the operating block 2422 to connect or disconnect the hook body 2421 from the contact line. The roller 2423 is mounted on the hook body 2421 via bearings, ensuring that the hook can slide freely on the contact line, reducing friction, and providing automatic alignment and positioning for the hook assembly 242 and hook seat 241 during movement. When the obstacle avoidance robot 1 rises, relying on its own weight, the pull ropes 254 of the two side up / down line systems and the hook assembly 242 automatically adjust to a vertical state, providing automatic alignment and positioning for the hook assembly 242 and hook seat 241 during the robot's ascent, achieving accurate docking of the hook assembly 242 and hook seat 241. After the connection is established, the rotary motor 21 rotates, driving the hook base 2414 to rotate and lift the hook assembly 242 up to the point of separation from the contact line. Simultaneously, the pressure block 2416 slides along the guide post towards the magnet 2417, pressing the hook assembly 242 against the magnet 2417 and securing the hook assembly 242, thus safely connecting the hook assembly 242 and the hook base 241. The rotary motor 21 rotates further, moving the hook assembly 242 and hook base 241 to an area that does not interfere with the robot's operation. During descent, the rotary motor 21 rotates in the opposite direction, causing the hook assembly 242 to rotate the hook base 241 above the contact line. The rotary motor 21 then rotates further in the opposite direction, further driving the hook base 2414 to rotate and pull the hook assembly 242 down to be hooked onto the contact line. Simultaneously, the pressure block 2416 slides in the opposite direction towards the magnet 2417, disengaging from the hook assembly 242. The machine continues to descend, safely separating the hook assembly 242 from the hook base 241.

[0031] In some examples, the winding mechanism 25 further includes: a mounting frame 251, a winding reel 252, a cable organizer 253, and a pull rope 254. The mounting frame 251 is disposed at the bottom and one side of the lifting motor 22. The winding reel 252 is rotatably disposed on the mounting frame 251, and one end is connected to the drive end of the lifting motor 22 through a worm gear assembly 23. The cable organizer 253 is movably disposed on the mounting frame 251 and is connected to the winding reel 252 through a linkage assembly 243. One end of the pull rope 254 passes through the pulley 2418 and the cable organizer 253 and is fixedly connected to the winding reel 252.

[0032] It should be noted that the mounting bracket 251 provides support for the installation of the winding reel 252, the linkage assembly 243, and the cable organizer 253. The winding reel 252 is connected to the drive end of the lifting motor 22 via the worm gear assembly 23, ensuring that the power of the lifting motor 22 can be effectively transmitted to the winding reel 252. The pull rope 254, pulley 2418, cable organizer 253, and winding reel 252 form a complete pull rope 254 system. When the obstacle avoidance robot 1 performs loading and unloading operations, the lifting motor 22 starts, driving the worm gear assembly 23 to rotate, thereby rotating the winding reel 252 and retracting or releasing the pull rope 254. The cable organizer 253 is connected to the winding reel 252 via the linkage assembly 243, ensuring that the pull rope 254 is neatly wound on the winding reel 252, avoiding operational problems caused by uneven winding. The winding mechanism 25 ensures the smooth winding and unwinding of the pull rope 254, thereby enabling the obstacle avoidance robot 1 to rise and fall smoothly, improving the efficiency and safety of the up-and-down operation.

[0033] In some examples, the linkage component 243 further includes a reciprocating screw 2431 and gears 2432. The reciprocating screw 2431 is rotatably mounted on the mounting bracket 251. The two gears 2432 are respectively mounted on the ends of the reciprocating screw 2431 and the winding reel 252. The two gears 2432 mesh with each other to realize the linkage between the reciprocating screw 2431, the cable organizer 253, and the winding reel 252.

[0034] It should be noted that when the lifting motor 22 drives the winding reel 252 to rotate and retract the pull rope 254, the reciprocating screw 2431 rotates accordingly through the meshing gear 2432. The rotation of the reciprocating screw 2431 drives the cable organizer 253 on it to slide axially back and forth, realizing the orderly winding and release of the pull rope 254. This ensures the uniform distribution of the pull rope 254 on the winding reel 252, and also allows the cable organizer 253 to move smoothly along the reciprocating screw 2431, keeping the pull rope 254 neat. This provides stable and efficient management of the pull rope 254 during the obstacle avoidance robot 1's loading and unloading process, ensuring smooth operation and safety.

[0035] Description of the deployment process of obstacle avoidance robot 1:

[0036] After determining the online location, the obstacle avoidance robot 1 is placed on the ground. The operator uses an auxiliary rod to hook the operating block 2422, and hooks the hooks on both sides of the obstacle avoidance robot 1 onto the contact line in opposite directions. The online procedure is initiated; all robotic arms of the obstacle avoidance robot 1 open, the lifting motor 22 drives the winding reel 252 to rotate, the pull rope 254 retracts, and the obstacle avoidance robot 1 begins to rise. Synchronous control of the two lifting motors 22 is based on existing technology. For example, a tilt sensor is installed on the control board inside the obstacle avoidance robot 1. If the tilt angle exceeds a certain range, the tilt sensor sends a signal, and the two lifting motors 22 automatically adjust the entire machine to a horizontal state. As the obstacle avoidance robot 1 continues to rise, the infrared sensors on both sides of the robot detect the contact line, and the two lifting motors 22 stop rising. After the lifting motors 22 stop, a signal is sent to the obstacle avoidance robot 1, causing its robotic arms to close, and the entire machine to be hooked onto the contact line. When the robotic arms are fully closed, the limit switch contacts are triggered, sending feedback to the ground personnel to confirm that the machine has been safely online. The rotary motor 21 actuates, driving the hook seat 241 to rotate towards the hook assembly 242. The hook seat 241 slowly lifts the hook assembly 242 away from the contact line. Simultaneously, the sliding rod on the pressure block 2416 is guided by the sliding groove inside the guide slot 2413. Under the action of the spring, the pressure block 2416 slides towards the hook until it presses against the hook body 2421. Under the action of the magnet 2417 and the pressure block 2416, the hook engages with the hook seat 241. The rotary motor 21 continues to actuate, and the hook seat 241 and the hook assembly 242 rotate together to a position that does not affect the operation of the obstacle avoidance robot 1. At this point, all the online actions are completed, and the obstacle avoidance robot 1 begins to run on the contact line.

[0037] Description of the production process of obstacle avoidance robot 1:

[0038] After determining the unloading position, the rotary motor 21 first activates, causing the hook seat 241 and hook assembly 242 to rotate together towards the contact line until the hook body 2421 is above the contact line. The rotary motor 21 continues to operate, and the hook body 2421 hooks onto the contact line. Simultaneously, the guide rod 2415 on the pressure block 2416 slides away from the hook assembly 242 via the guide groove 2413, gradually disengaging the hook seat 241 from the hook assembly 242. The main robotic arm opens, the lifting motor 22 activates, and the obstacle avoidance robot 1 descends to the ground. During descent, the internal tilt sensor detects the robot's horizontal position and feeds feedback to the two lifting motors 22 to automatically adjust the entire robot to a horizontal position. After the obstacle avoidance robot 1 reaches the ground, a worker uses a lever to remove the hook seat 241, thus completing the unloading process.

[0039] In the description of this utility model, it should be understood that the terms "coaxial," "bottom," "one end," "top," "middle," "other end," "upper," "side," "top," "inner," "front," and "both ends," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model 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. At the same time, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "fixed installation," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two elements or the interaction relationship between two elements. Unless otherwise explicitly limited, those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0040] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A device for loading and unloading an overhead contact line self-propelled obstacle avoidance robot, characterized in that, include: An obstacle avoidance robot and upper and lower line structures, wherein the two upper and lower line structures are respectively asymmetrically installed on the front and rear sides of the obstacle avoidance robot; The upper and lower line structures include: Two rotary motors are asymmetrically mounted on the front and rear sides of the obstacle avoidance robot, respectively. The two lifting motors are asymmetrically installed on both sides of the obstacle avoidance robot and are located at the bottom of the rotary motor. Worm gear assemblies, two of which are respectively mounted on the drive ends of the rotary motor and the lifting motor; A load-bearing mechanism, which is mounted on a worm gear assembly connected to a rotary motor; A winding mechanism is provided on a worm gear assembly connected to a lifting motor.

2. The loading and unloading device for a self-propelled obstacle avoidance robot for overhead contact lines according to claim 1, characterized in that: The load-bearing mechanism includes: Hook seats, the two hook seats are respectively mounted on the drive ends of the two rotary motors via worm gears; The hook assembly consists of two hook assemblies and two hook seats that are connected after the machine is put on the line and disengaged during the loading and unloading process.

3. The loading and unloading device for a self-propelled obstacle avoidance robot for overhead contact lines according to claim 2, characterized in that: The hook base includes: A fixed base is provided at the output end of the rotary motor; A rotating shaft is rotatably mounted on a fixed base via bearings, and one end is mounted on a worm gear assembly connected to a rotary motor, and is perpendicular to the output shaft of the rotary motor. A guide groove is installed on one side of the fixed base and is movably connected to the rotating shaft; The hook seat body is mounted on the other end of the rotating shaft; A guide rod, one end of which is embedded in the inner side of the guide groove; A pressure block is installed at the other end of the guide rod and is mounted on the hook body via a guide post and guide sleeve. A magnet, wherein the magnet is disposed on one side of the hook base body; The two pulleys are respectively located at the bottom end of the hook seat body.

4. The loading and unloading device for a self-propelled obstacle avoidance robot for overhead contact lines according to claim 3, characterized in that: The winding mechanism includes: Mounting bracket, which is installed at the bottom and one side of the lifting motor; A winding reel is rotatably mounted on two mounting brackets, and one end of the winding reel is connected to the drive end of the lifting motor via a worm gear assembly. A cable organizer, which is movably mounted on a mounting frame and connected to a winding reel via a linkage component; A pull rope, one end of which passes through a pulley and a cable organizer and is fixedly connected to a winding reel.

5. The loading and unloading device for a self-propelled obstacle avoidance robot for overhead contact lines according to claim 4, characterized in that: The hook assembly includes: The hook body is fixedly connected to the other end of the pull rope and selectively overlaps with the hook seat through a pressure block and a magnet; An operating block is mounted on the side of the hook body; The two rollers are respectively mounted on the hook body via bearings, allowing the hook to slide freely on the contact line.

6. The loading and unloading device for a self-propelled obstacle avoidance robot for overhead contact lines according to claim 4, characterized in that: The linkage component includes: A reciprocating lead screw, which is rotatably mounted on a mounting frame and screwed to a winding reel; Two gears are respectively installed at the ends of the reciprocating lead screw and the winding reel, and the two gears realize the linkage between the reciprocating lead screw, the yarn organizer, and the winding reel.

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