Hovering type repairing equipment for repairing broken strand of overhead power line

Abstract

The utility model discloses a hovering type repairing device for repairing a broken strand of an overhead power line, which comprises a walking mechanism capable of being fixed on a flying platform, a lifting mechanism fixed on a walking bracket or the flying platform, a wire stroking mechanism fixed on a wire stroking shell and a wire covering mechanism fixed on a wire covering shell, the striker plate and the feeding mechanism are located on the two sides of the wire wrapping mechanism and fixed to the upper portion of the wire wrapping shell. Wherein the wire stroking shell and the wire wrapping shell are connected with each other through a shaft, and the wire stroking shell and the wire wrapping shell can be separated or combined; the camera shooting equipment is fixed on the wire covering shell, so that the covering condition can be conveniently observed in real time; conductive mechanisms are further fixed above the flying platform and located on the two sides of the walking mechanism. The electric transmission line broken strand repairing robot not only can quickly carry out repairing operation in a complex terrain environment, but also solves the problem that a traditional line hanging operation robot is inconvenient to load / unload, can replace traditional manual work to repair electric transmission line broken strands, improves operation efficiency, and reduces operation cost.

Description

Technical Field

[0001] This utility model relates to a hovering repair device for repairing broken strands in overhead power lines, belonging to the technical field of power line safety devices. Background Technology

[0002] As a vital component of the national economy, the power industry has a significant impact on social production and people's lives. High-voltage transmission lines are a crucial part and foundation of the power system. Due to their large conductor cross-sectional area, long spans, and high installation distances, often constructed in open areas such as ridges and plains, the conductors and overhead ground wires are constantly exposed to harsh environments such as strong winds, icing, lightning strikes, and corrosion. This frequently leads to strand breaks and wire breaks. Under the influence of natural wind, broken aluminum wires can vibrate and scatter, causing short circuits with nearby conductors, posing a threat to the safe operation of transmission lines. Every year, accidents caused by broken strands in transmission lines, such as phase-to-phase discharges, short-circuit fires, and power outages, occur frequently, resulting in incalculable economic losses to people's production and lives. Therefore, power operation and maintenance departments across the country invest significant manpower, material resources, and financial resources annually in inspecting, repairing, and reinforcing transmission lines to ensure their normal operation.

[0003] Traditionally, the repair of broken strands in transmission lines is mainly done manually. First, the inspectors observe and determine the condition and location of the conductor damage and broken strands. Then, the workers reach the vicinity of the broken strands by manually climbing or riding in an insulated bucket truck or helicopter. They then use crimping tools to crimp or wrap pre-twisted wires to repair the broken strands of the transmission line.

[0004] With the development of science and technology, some semi-automatic online mobile strand repair robots have been developed and put into practical application. These robots can significantly improve work efficiency and reduce the dangers of manual operation, but there are still some unresolved problems, such as the need for manual assistance to climb the tower to help the robot go up and down the line, limited battery life, and inability to be applied in some complex environments.

[0005] Therefore, there is an urgent need for a hovering repair device for repairing broken strands in overhead power lines. This device utilizes a multi-rotor flying platform carrying both a wire-hanging walking mechanism and a broken strand repair operation mechanism to achieve broken strand repair in power lines. It not only enables rapid repair work in complex terrain environments but also solves the problem of inconvenient loading and unloading of traditional wire-hanging robots. It can replace traditional manual labor in repairing broken strands in transmission lines, improving work efficiency and reducing operating costs. It features strong environmental adaptability, high operating efficiency, light weight, small size, portability, simple operation, and high safety. Utility Model Content

[0006] The technical problem solved by this utility model is to provide a hovering repair device for repairing broken strands in overhead power lines. This device utilizes a multi-rotor flying platform carrying both a wire-hanging walking mechanism and a broken strand repair operation mechanism to achieve broken strand repair in power lines. It not only enables rapid repair work in complex terrain environments but also solves the problem of inconvenient loading and unloading of traditional wire-hanging robots. It can replace traditional manual labor in repairing broken strands in transmission lines, improving work efficiency and reducing operating costs. It features strong environmental adaptability, high work efficiency, light weight, small size, portability, simple operation, and high safety.

[0007] The technical solution of this utility model is as follows: a hovering repair device for repairing broken strands in overhead power lines, comprising a traveling mechanism that can be fixed to a flight platform, a lifting mechanism fixed to a traveling support or the flight platform, a wire straightening mechanism fixed to a wire straightening housing, a wire wrapping mechanism fixed to a wire wrapping housing, and baffle plates and a feeding mechanism located on both sides of the wire wrapping mechanism and fixed above the wire wrapping housing. The wire straightening housing and the wire wrapping housing are connected to each other by a shaft, and the wire straightening housing and the wire wrapping housing can be separated or combined; a camera device is fixed on the wire wrapping housing for real-time observation of the wrapping condition; a conductive mechanism is also fixed above the flight platform, located on both sides of the traveling mechanism.

[0008] Preferably, the aforementioned conductive mechanism includes an insulating rod with conductive heads fixed at both ends, a resistor connected to and fixed inside the insulating rod with the conductive heads, an insulating head fixed in the middle of the insulating rod, a conductive rod sleeved on the outside of the insulating rod with both ends connected to the top conductive head and the insulating head respectively via a rotating shaft, fixed bases fixed to the flight platform and arranged separately, and a damper with both ends connected to the insulating head and the fixed base respectively via a rotating shaft. The conductive head at the bottom of the insulating rod is connected to another fixed base; the damper can be a gas spring or a combination of a spring and a sleeve; the conductive rod can roll on the power line.

[0009] Preferably, the aforementioned flight platform is a rotor-mounted type, and the flight platform is also equipped with an auxiliary alignment device, including any one or more of airborne radar and cameras.

[0010] Preferably, the above-mentioned cable straightening mechanism includes a cable straightening motor with one end fixed to the cable straightening base and the other end connected to the cable straightening rod via a rotating shaft; a cable straightening extension motor with one end fixed to the cable straightening extension base and the other end fixed to the bottom end of the cable straightening base; a cable straightening clamp connected to the cable straightening rod and the cable straightening base via a rotating shaft; and the cable straightening extension base being fixed to the bottom surface of the cable straightening housing. The cable straightening clamp is a semi-circular movable block with an elastic block, such as sponge, rubber, or foam, fixed inside. The cable straightening clamp is a quick-release design, allowing adjustment and replacement according to the size of the power line, adapting to various specifications of power lines.

[0011] Preferably, the aforementioned wire-wrapping mechanism includes a wire-wrapping motor with one end fixedly connected to the wire-wrapping base and the other end connected to the wire-wrapping connecting rod via a rotating shaft; a wire-wrapping extension motor with one end fixedly connected to the wire-wrapping extension base and the other end fixedly connected to the bottom end of the wire-wrapping base; a wire-wrapping clamp connected to the wire-wrapping connecting rod and the wire-wrapping base via rotating shafts; and the wire-wrapping extension base fixedly connected to the bottom surface of the wire-wrapping housing. The wire-wrapping clamp is a quick-release design, which can be adjusted and replaced according to the size of the power line, adapting to various specifications of power lines.

[0012] Preferably, the above-mentioned feeding mechanism includes a feeding base and a feeding fixing seat fixed above the wire housing, a feeding cover plate fixed to the upper end of the feeding base by a slide rail, a feeding pusher that engages with the feeding base through a slot, and sleeves fixed at both ends to the feeding pusher and the feeding fixing seat respectively. The feeding base can hold a repair clamping block, which is sealed by the feeding cover plate to prevent the repair clamping block from falling off. The sleeve is a gas spring or damping mechanism, with a spring covering its outer side. The repair clamping block has a cable tie design with multiple layers of buckles, adaptable to various specifications of power lines.

[0013] Preferably, the aforementioned lifting mechanism can be a rotary lifting mechanism, including a rotary mounting base fixed to the side of the traveling bracket or the flight platform, a rotary motor fixed inside the rotary mounting base, and a shaft that is inserted into the traveling bracket and fixedly connected to the rotary motor via bearings. The rotary motor is a high-torque motor.

[0014] Preferably, the above-mentioned lifting mechanism can be a linear lifting mechanism, which can achieve linear lifting through a push rod motor that is fixed at one end to the flight platform and at the other end to the coil housing and the winding housing. At this time, the shaft and the traveling bracket are limited by the sliding groove.

[0015] Preferably, the aforementioned walking mechanism includes a walking bracket fixed to the flight platform, a walking motor fixed within the walking bracket, and walking wheels connected to the walking motor. The walking motor is a high-torque motor; a sensor is installed on the walking bracket near the walking wheels to provide a basis for determining the distance between the power line and the walking bracket, facilitating the mounting of the walking mechanism onto the power line.

[0016] Preferably, the above-mentioned strand-repairing multirotor aircraft operates in six steps:

[0017] 1) The flight platform takes off and approaches the power line slowly. First, the conductive rod is brought close to the power line, and then the walking frame is brought into contact with the power line. At this time, data is transmitted back through the sensors. The flight platform slowly descends until the walking wheels are fully attached to the power line. At this time, the rotor motor is turned off.

[0018] 2) When the traveling mechanism moves to the vicinity of the broken strand line, the lifting mechanism raises the wire straightening mechanism, wire wrapping mechanism, feeding mechanism, etc. to a suitable position;

[0019] 3) The wire straightening clamp is raised to the bottom of the broken strand using the wire straightening extension motor, and then the wire straightening clamp is used to cover the broken strand using the wire straightening motor;

[0020] 4) The traveling mechanism moves forward to the position to be repaired, the wire extension motor sinks, and the repair clamps are fed into the wire winding mechanism in sequence through the feeding mechanism;

[0021] 5) The wire extension motor rises to the bottom of the line to be repaired, and then the repair clamp is clamped by the wire extension motor to gather the broken strands of the line.

[0022] 6) Repeat steps 3 and 4 above until the repair is completed or the repair clamp is fully used. At this time, the wire straightening mechanism and the wire wrapping mechanism return to their initial positions, the lifting mechanism descends, the rotor starts, and the flying platform slowly rises until the traveling wheels are off the line. At this time, the flying platform slowly moves away from the power line until it reaches a suitable position and lands to complete the operation.

[0023] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0024] This utility model features a multi-rotor flying platform equipped with a wire-hanging walking mechanism and a broken strand repair operation mechanism to achieve broken strand repair of power lines. It can not only carry out repair operations quickly in complex terrain environments, but also solve the problem of inconvenience in loading / unloading traditional wire-hanging robots. It can replace traditional manual labor for broken strand repair of power transmission lines, improve work efficiency, and reduce work costs.

[0025] 2) The wire clamp is a semi-circular movable block with an elastic block fixed inside, such as sponge, rubber or foam, which can adapt to various specifications of power lines and has strong adaptability.

[0026] 3) The cable clips and wire wrapping clips are designed for quick release, and different sizes can be selected according to actual needs for quick replacement;

[0027] 4) The feeding mechanism is a passive elastic feeding mechanism that works in conjunction with the baffle plate. Through the up and down movement of the wrapping mechanism, passive autonomous feeding can be achieved.

[0028] 5) The repair clamp is designed with cable ties and has multiple buckles to meet the wrapping needs of power lines of various specifications.

[0029] 6) The cable sheath and the cable casing can be combined and installed in different ways according to different needs, making them highly adaptable;

[0030] 7) A camera is fixed on the cable casing for easy real-time observation of the covering condition, ensuring high security;

[0031] 8) Both the walking motor and the rotary motor are high-torque joint motors, which can actively limit movement and are not prone to slippage;

[0032] 9) The conductive mechanism can roll on the power line without damaging the power line itself, allowing the robot to perform high-voltage live-line work;

[0033] 10) The multi-rotor aircraft is equipped with an auxiliary alignment device, which can realize automatic / semi-automatic alignment, which is simple to operate and highly safe. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the multi-rotor aircraft structure in this utility model;

[0035] Figure 2 This is a schematic diagram of the operation of the multi-rotor aircraft in this utility model. Figure 1 (Online status);

[0036] Figure 3 This is a schematic diagram of the operation of the multi-rotor aircraft in this utility model. Figure 2 (Walking state);

[0037] Figure 4 This is a schematic diagram of the operation of the multi-rotor aircraft in this utility model. Figure 3 (Under repair status);

[0038] Figure 5 This is a schematic diagram of the rotary lifting structure in this utility model. Figure 1 (The lifting mechanism is a rotary lifting mechanism, and the winding housing and the wrapping housing are placed in the middle before separation).

[0039] Figure 6 This is a schematic diagram of the rotary lifting structure in this utility model. Figure 2 (The lifting mechanism is a rotary lifting mechanism, and the winding housing and the wrapping housing are placed separately, one in front of the other.)

[0040] Figure 7 This is a schematic diagram of the rotary lifting structure in this utility model. Figure 3 (The lifting mechanism is a rotary lifting mechanism, and the winding housing and the wrapping housing are combined.)

[0041] Figure 8 This is a schematic diagram of the linear lifting structure in this utility model;

[0042] Figure 9 This is a schematic diagram of the feeding mechanism in this utility model;

[0043] Figure 10 This is a schematic diagram of the rotating lifting mechanism in this utility model;

[0044] Figure 11 This is a schematic diagram of the walking mechanism structure in this utility model;

[0045] Figure 12 This is a schematic diagram of the conductive mechanism in this utility model;

[0046] Figure 13 This is a cross-sectional structural diagram of the conductive mechanism in this utility model;

[0047] Figure 14 This is a schematic diagram of the winding mechanism in this utility model;

[0048] Figure 15 This is a schematic diagram of the envelope mechanism in this utility model.

[0049] In the diagram, 1—straightening mechanism, 2—wrapping mechanism, 3—feeding mechanism, 4—lifting mechanism, 5—straightening housing, 6—wrapping housing, 7—camera equipment, 8—baffle plate, 9—repair clamp, 10—traveling mechanism, 11—conductive mechanism, 12—flying platform, 13—auxiliary wire alignment device, 14—broken strand wire;

[0050] 101—Straightening motor, 102—Straightening base, 103—Straightening connecting rod, 104—Straightening clamp, 105—Straightening extension motor, 106—Straightening extension base, 107—Elastic block;

[0051] 201—Wire wrapping motor, 202—Wire wrapping base, 203—Wire wrapping connecting rod, 204—Wire wrapping clamp, 205—Wire wrapping extension motor, 206—Wire wrapping extension base;

[0052] 301—Feed base, 302—Feed cover plate, 303—Feed pusher, 304—Sleeve, 305—Feed fixing seat, 306—Spring;

[0053] 401—Rotary motor; 402—Rotary mounting base; 403—Shaft;

[0054] 1001—Travel motor, 1002—Travel wheel, 1003—Travel bracket, 1004—Bearing;

[0055] 1101—Resistor, 1102—Insulating rod, 1103—Conductive rod, 1104—Conductive head, 1105—Insulating head, 1106—Fixed base, 1107—Damper. Detailed Implementation

[0056] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments.

[0057] Example 1: As Figures 1 to 15As shown, a hovering repair device for repairing broken strands in overhead power lines includes a traveling mechanism 10 that can be fixed to a flight platform 12, a lifting mechanism 4 fixed to a traveling support 1003 or the flight platform 12, a wire-straightening mechanism 1 fixed to a wire-straightening housing 5, a wire-wrapping mechanism 2 fixed to a wire-wrapping housing 6, and baffle plates 8 and a feeding mechanism 3 located on both sides of the wire-wrapping mechanism 2 and fixed above the wire-wrapping housing 6. The wire-straightening housing 5 and the wire-wrapping housing 6 are connected to each other via a shaft 4, and the wire-straightening housing 5 and the wire-wrapping housing 6 can be separated or combined. A camera device 7 is fixed on the wire-wrapping housing 6 for real-time observation of the wrapping condition. A conductive mechanism 11 is also fixed above the flight platform 12, located on both sides of the traveling mechanism 10.

[0058] Preferably, the camera device 7 mentioned above is a high-definition network camera.

[0059] Preferably, the above-mentioned cable straightening mechanism 1 includes a cable straightening motor 101, one end of which is fixedly connected to the cable straightening base 102 and the other end of which is connected to the cable straightening link 103 via a rotating shaft; a cable straightening extension motor 105, one end of which is fixedly connected to the cable straightening extension base 106 and the other end of which is fixedly connected to the bottom end of the cable straightening base 102; and a cable straightening clamp 104, which is connected to the cable straightening link 103 and the cable straightening base 102 via a rotating shaft; the cable straightening extension base 106 is fixedly connected to the bottom surface of the cable straightening housing 5. The cable straightening clamp 104 is a semi-circular movable block with an elastic block 107 fixed inside, such as sponge, rubber, or foam. The cable straightening clamp 104 is a quick-release design, which can be adjusted and replaced according to the size of the power line, adapting to various specifications of power lines.

[0060] Preferably, the aforementioned wire wrapping mechanism 2 includes a wire wrapping motor 201, one end of which is fixedly connected to the wire wrapping base 202, and the other end of which is connected to the wire wrapping connecting rod 203 via a rotating shaft; a wire wrapping extension motor 205, one end of which is fixedly connected to the wire wrapping extension base 206, and the other end of which is fixedly connected to the bottom end of the wire wrapping base 202; a wire wrapping clamp 204, which is connected to the wire wrapping connecting rod 203 and the wire wrapping base 202 via a rotating shaft; and the wire wrapping extension base 206 is fixedly connected to the bottom surface of the wire wrapping housing 6. The wire wrapping clamp 204 is a quick-release design, which can be adjusted and replaced according to the size of the power line, adapting to various specifications of power lines.

[0061] Preferably, the feeding mechanism 3 includes a feeding base 301 and a feeding fixing seat 305 fixed above the wire housing 6, a feeding cover plate 302 fixed to the upper end of the feeding base 301 via a slide rail, a feeding pusher 303 that engages with the feeding base 301 via a slot, and sleeves 304 fixed at both ends to the feeding pusher 303 and the feeding fixing seat 305 respectively. The feeding base 301 can hold a repair clamping block 9, which is sealed by the feeding cover plate 302 to prevent the repair clamping block 9 from falling off. The sleeve 304 is a gas spring or damping mechanism, with a spring 306 covering its outer side; the repair clamping block 9 has a cable tie design with multiple layers of buckles, adaptable to various specifications of power lines.

[0062] Preferably, the lifting mechanism 4 is a rotary lifting mechanism, including a rotary mounting base 402 fixed to the side of the traveling support 1003 or the flight platform 12, a rotary motor 401 fixed in the rotary mounting base 402, and a shaft 403 that is inserted into the traveling support 1003 and fixedly connected to the rotary motor 401 via a bearing 1004. The rotary motor 401 is a high-torque motor.

[0063] Preferably, the rotary motor 401 mentioned above is a robot joint motor from Mooway or RMD.

[0064] Preferably, the above-mentioned lifting mechanism 4 is a linear lifting mechanism, which can achieve linear lifting through a push rod motor that is fixed at one end to the flight platform 12 and at the other end to the coil housing 6 and the winding housing 5. At this time, the shaft 403 and the traveling bracket 1003 are limited by the sliding groove.

[0065] Preferably, the aforementioned walking mechanism 10 includes a walking bracket 1003 fixed on the flight platform 12, a walking motor 1001 fixed inside the walking bracket 1003, and walking wheels 1002 connected to the walking motor 1001. The walking motor 1001 is a high-torque motor. A sensor is installed on the side of the walking bracket 1003 near the walking wheels 1002, which can provide a basis for determining the distance between the power line and the walking bracket 1003, facilitating the mounting of the walking mechanism 10 onto the power line.

[0066] Preferably, the conductive mechanism 11 includes an insulating rod 1102 with conductive heads 1104 fixed at both ends, a resistor 1101 connected to and fixed inside the insulating rod 1102, an insulating head 1105 fixed in the middle of the insulating rod 1102, a conductive rod 1103 sleeved on the outside of the insulating rod 1102 and connected at both ends to the top conductive head 1104 and the insulating head 1105 respectively via a rotating shaft, fixed bases 1106 fixed on the flight platform 12 and arranged separately, and a damper 1107 connected at both ends to the insulating head 1105 and the fixed base 1106 respectively via a rotating shaft. The bottom conductive head 1104 of the insulating rod 1102 is connected to another fixed base 1106; the damper 1107 can be a gas spring or a combination of a spring and a sleeve; the conductive rod 1103 can roll on the power line.

[0067] Preferably, the flight platform 12 is a rotor-mounted type, and the flight platform 12 is also fixed with an auxiliary alignment device 13, which includes any one or more of airborne radar and cameras.

[0068] Preferably, in the above-mentioned auxiliary alignment device 13, the airborne radar is the Lanwo 360 radar, and the camera is a high-definition network camera.

[0069] Example 2: As Figures 2-4 As shown, preferably, the above-mentioned multi-rotor aircraft for repairing broken strands operates in six steps: 1) The flight platform 12 takes off and approaches the power line slowly, first bringing the conductive rod 1103 close to the power line, and then bringing the walking bracket 1003 into contact with the power line. At this time, data is transmitted back through the sensor, and the flight platform 12 slowly descends until the walking wheel 1002 is fully attached to the power line. At this time, the rotor motor is turned off; 2) The walking mechanism 10 moves to the vicinity of the broken strand 14, and the lifting mechanism 4 raises the wire straightening mechanism 1, the wire wrapping mechanism 2, the feeding mechanism 3, etc. to a suitable position; 3) The wire straightening clamp 104 is raised to the bottom of the broken strand 14 by the wire straightening extension motor 105, and then the wire straightening clamp 104 is rotated by the wire straightening motor 101. 4) The traveling mechanism 10 moves forward to the position to be repaired, the wire extension motor 205 sinks, and the repair clamping block 9 is fed into the wire wrapping mechanism 2 in sequence through the feeding mechanism 3; 5) The wire extension motor 205 rises to the bottom of the line to be repaired, and the repair clamping block 9 is clamped by the wire wrapping motor 201 to gather the broken wire 14; 6) Repeat steps 3 and 4 above until the repair is completed or the repair clamping block 9 is fully used. At this time, the wire straightening mechanism 1 and the wire wrapping mechanism 2 return to the initial position, the lifting mechanism 4 descends, the rotor starts, and the flying platform 12 slowly rises until the traveling wheel 1002 is removed from the line. At this time, the flying platform 12 slowly moves away from the power line until it reaches a suitable position and lands to complete the operation.

[0070] Preferably, the above-mentioned winding motor 101, winding extension motor 15, wrapping motor 201 and wrapping extension motor 205 use Reuer push rods with encoders.

[0071] The above description is merely a specific embodiment example of this utility model, and the protection scope of this utility model is not limited thereto. Those skilled in the art can easily find variations or substitutions within the technical scope disclosed in this utility model, and these should all be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. A hovering repair device for repairing broken strands in overhead power lines, characterized in that: It has a flight platform (12), including a walking mechanism (10) that can be fixed on the flight platform (12), a lifting mechanism (4) fixed on the walking support (1003) or the flight platform (12), a winding mechanism (1) fixed on the winding housing (5), a winding mechanism (2) fixed on the winding housing (6), and a material stop (8) and a feeding mechanism (3) located on both sides of the winding mechanism (2) and fixed above the winding housing (6). Among them, the winding housing (5) and the wrapping housing (6) are connected to each other by a shaft (403), and the winding housing (5) and the wrapping housing (6) can be separated or combined; a camera device (7) is fixed on the wrapping housing (6) to facilitate real-time observation of the wrapping situation; a conductive mechanism (11) is also fixed above the flight platform (12), and the conductive mechanism (11) is located on both sides of the walking mechanism (10).

2. The suspended repair equipment for repairing broken strands in overhead power lines according to claim 1, characterized in that: The aforementioned conductive mechanism (11) includes an insulating rod (1102) with conductive heads (1104) fixed at both ends, a resistor (1101) connected to the conductive head (1104) and fixed inside the insulating rod (1102), an insulating head (1105) fixed in the middle of the insulating rod (1102), a conductive rod (1103) sleeved on the outside of the insulating rod (1102) and connected at both ends to the top conductive head (1104) and the insulating head (1105) respectively via a rotating shaft, a fixed base (1106) fixed on the flight platform (12) and arranged separately, and a damper (1107) connected at both ends to the insulating head (1105) and a fixed base (1106) respectively via a rotating shaft. The conductive head (1104) at the bottom of the insulating rod (1102) is connected to another fixed base (1106); the damper (1107) can be a gas spring or a combination of a spring and a sleeve; the conductive rod (1103) can roll on the power line. The aforementioned flight platform (12) is a rotor-mounted type, and an auxiliary alignment device (13) is also fixed on the flight platform (12), including any one or more of airborne radar and cameras.

3. The hovering repair equipment for repairing broken strands in overhead power lines according to claim 1, characterized in that: The above-mentioned winding mechanism (1) includes a winding motor (101) with one end fixedly connected to the winding base (102) and the other end connected to the winding connecting rod (103) via a rotating shaft; a winding extension motor (105) with one end fixedly connected to the winding extension base (106) and the other end fixedly connected to the bottom end of the winding base (102); a winding clamp (104) connected to the winding connecting rod (103) and the winding base (102) via a rotating shaft; and the winding extension base (106) is fixedly connected to the bottom surface of the winding housing (5). Among them, the wire clamp (104) is a semi-circular movable block, and an elastic block (107) is fixed inside it. The elastic block (107) is made of sponge, rubber or foam.

4. A suspended repair device for repairing broken strands in overhead power lines according to claim 3, characterized in that: The above-mentioned wire wrapping mechanism (2) includes a wire wrapping motor (201) with one end fixed to the wire wrapping base (202) and the other end connected to the wire wrapping connecting rod (203) via a rotating shaft; a wire wrapping extension motor (205) with one end fixed to the wire wrapping extension base (206) and the other end fixed to the bottom end of the wire wrapping base (202); a wire wrapping clamp (204) connected to the wire wrapping connecting rod (203) and the wire wrapping base (202) via a rotating shaft; and the wire wrapping extension base (206) fixed to the bottom surface of the wire wrapping housing (6).

5. A hovering repair device for repairing broken strands in overhead power lines according to claim 3, characterized in that: The above-mentioned feeding mechanism (3) includes a feeding base (301) and a feeding fixing seat (305) fixed above the wire housing (6), a feeding cover plate (302) fixed to the upper end of the feeding base (301) by a slide rail, a feeding pusher (303) that cooperates with the feeding base (301) through a slot, and a sleeve (304) whose two ends are fixed to the feeding pusher (303) and the feeding fixing seat (305) respectively. The feed base (301) can hold the repair clamp (9) and is sealed by the feed cover plate (302) to prevent the repair clamp (9) from falling off; the sleeve (304) is a gas spring or damping mechanism, and the outside is covered with a spring (306); the repair clamp (9) is a cable tie design with multiple buckles.

6. A suspended repair device for repairing broken strands in overhead power lines according to claim 5, characterized in that: The above-mentioned lifting mechanism (4) is a rotary lifting mechanism, including a rotary fixed seat (402) fixed on the side of the walking support (1003) or the flight platform (12), a rotary motor (401) fixed in the rotary fixed seat (402), and a shaft (403) that is inserted into the walking support (1003) through a bearing (1004) and fixedly connected to the rotary motor (401).

7. A hovering repair device for repairing broken strands in overhead power lines according to claim 1, characterized in that: The above-mentioned lifting mechanism (4) is a linear lifting mechanism. It can achieve linear lifting by a push rod motor that is fixed at one end to the flight platform (12) and at the other end to the coil housing (6) and the winding housing (5). At this time, the shaft (403) and the traveling bracket (1003) are limited by the sliding groove.

8. A hovering repair device for repairing broken strands in overhead power lines according to claim 1, characterized in that: The aforementioned walking mechanism (10) includes a walking bracket (1003) fixed on the flight platform (12), a walking motor (1001) fixed inside the walking bracket (1003), and a walking wheel (1002) connected to the walking motor (1001). A sensor is installed on the side of the walking support (1003) near the walking wheel (1002).

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