CN113612160A - Winch working tool for bypass cable lap joint and operation method thereof - Google Patents

Abstract

The invention discloses a winch operation tool for overlapping a bypass cable and an operation method thereof, wherein the operation tool comprises a body bracket, a wire twisting wheel and a bypass wire clamp, wherein the body bracket is used for being fixedly butted with the tail end of a robot; the winch lifting mechanism is used for driving the wire stranding wheel to lift the bypass cable to the bypass wire clamp; the wire clamp locking mechanism is used for driving the bypass wire clamp to lock the main wire and the bypass cable; the bypass cable is connected to the wire twisting wheel through the pull rope, and the bypass wire clamp is connected with the hook and used for realizing hooking of the winch operation tool on the main wire. The robot bypass lapping device is used for matching with a robot to complete automatic bypass lapping operation, well avoids the limitation of the tail end load of the robot, solves the difficulty of applying the robot to bypass operation, improves the efficiency of bypass operation, and reduces the labor intensity and safety risk of operators.

Description

Winch working tool for bypass cable lap joint and operation method thereof

Technical Field

The invention relates to a winch operation tool for bypass cable lapping and an operation method thereof, and belongs to the technical field of live working.

Background

The distribution network uninterrupted operation is mainly to overhaul or replace equipment under the condition that uninterrupted power supply is realized for users, and the most common mode at present is a bypass operation method. The bypass operation comprises bypass cable and bypass switch, mainly draws at the circuit both sides that need overhaul and connects the bypass cable, makes the electric current pass through bypass cable equipment to overhaul or change the operation circuit. The bypass operation needs to lift a bypass cable weighing dozens of kilograms to the position of the cross arm by means of a lifting mechanism of an insulating bucket arm vehicle or a lifting vehicle, a person climbing a pole fixes the cable on the auxiliary cross arm, the working procedures are multiple, the time consumption is long, the standard is high, the labor intensity is high, the requirements on the capability of the operator are high, and the bucket arm vehicle resource is occupied.

In recent years, live working robots gradually enter the power industry, and the burden of operators is reduced. However, due to the fact that the weight of the bypass cable is large, the requirement for lap joint quality is high, and the end load of the robot is limited, the research on the participation of the robot in the bypass operation is still a considerable blank at present.

Disclosure of Invention

The purpose of the invention is as follows: aiming at the defects of multiple manual bypass operation procedures, long time consumption, high intensity, limited robot operation load and the like, the invention provides the winch operation tool for bypass cable lapping and the operation method thereof, which can well avoid the limitation of the tail end load of the robot, complete the automatic bypass lapping operation by matching with the robot, shorten the operation time, improve the operation efficiency and reduce the labor intensity and safety risk of the operators.

The technical scheme is as follows: to achieve the above object, the present invention provides a winch work tool for bypass cable overlap, comprising:

the body support is used for being fixedly butted with the tail end of the robot, and a stranded wire wheel and a bypass wire clamp are arranged on the body support;

the winch lifting mechanism is used for driving the wire stranding wheel to lift the bypass cable to the bypass wire clamp;

the wire clamp locking mechanism is used for driving the bypass wire clamp to lock the main wire and the bypass cable;

the bypass cable is connected to the wire twisting wheel through the pull rope, and the bypass wire clamp is connected with the hook and used for realizing hooking of the winch operation tool on the main wire.

Furthermore, the wire clamp locking mechanism comprises a lead screw and a bottom plate support, the bottom plate support is fixedly connected with the body support, the lead screw is erected on the bottom plate support, the bypass wire clamp is respectively sleeved on the lead screw through a left-handed nut and a right-handed nut, a sliding groove for the bypass wire clamp to pass through is formed in the bottom plate support, and the opening and closing control of the bypass wire clamp is realized through the rotary driving of the lead screw.

Furthermore, the lead screw is sleeved with a large bevel gear, the bottom plate support is provided with a small bevel gear and a locking horn mouth which are coaxially mounted, the locking horn mouth is used for being in butt joint transmission with the tail end of the robot, and then the rotary driving of the lead screw is realized through meshing transmission between the small bevel gear and the large bevel gear.

Further, a linear guide rail is arranged on the bottom plate support, and the hook is connected with the linear guide rail in a sliding mode through a sliding block so as to guarantee hooking reliability.

Furthermore, a rectangular through groove for accommodating the left-handed nut/the right-handed nut is formed in the bypass wire clamp, and the bypass wire clamp is connected with the corresponding hook and the corresponding left-handed nut/right-handed nut through a plugging bolt. A plug bolt sequentially penetrates through the hook and the bypass wire clamp and is screwed into the nut, so that the nut drives the bypass wire clamp and the hook to move together.

Furthermore, a cylindrical pin is arranged on the hook, a kidney-shaped hole is formed in the bypass wire clamp, and rotation limitation of the bypass wire clamp around the plug bolt is achieved through cooperation of the cylindrical pin and the kidney-shaped hole. The rotation of the bypass clip is thereby limited to a certain angular range, allowing a slight float when the clip is clamped to the main line.

Further, the winch lifting mechanism comprises a base and a lifting bell mouth, the base is fixedly connected with the bottom plate support, the wire twisting wheel and the lifting bell mouth are installed on the base, a pulley used for achieving guide of a pull rope is arranged on the bottom plate support, and the lifting bell mouth is used for being in butt joint transmission with the tail end of the robot and achieving rotary driving of the wire twisting wheel.

Furthermore, a damping mechanism is arranged on the base and used for increasing the rotation damping of the stranded wire wheel. When the work is finished, the bypass cable slides down from the wire clamp, and the part of rotation damping needs to be overcome, so that the slow descending of the cable is realized, and the cable is prevented from being damaged due to free falling.

Further, damping mechanism includes pressure disc, friction disc, mill and stops dish, dish spring, the both sides of base set gradually mill and stop dish, friction disc, pressure disc, the tight pressure disc of one side of stranded conductor wheel pressure, it compresses tightly opposite side pressure disc through the dish spring to promote the horn mouth, the center pin of stranded conductor wheel runs through the pressure disc, friction disc, the mill that both sides were stopped and coils, the output shaft that promotes the horn mouth cup joints the transmission with the center pin of stranded conductor wheel to realize axial locking through lock nut, it is fixed with the base connection to grind the dish of stopping, the pressure disc is connected with the center pin transmission of stranded conductor wheel. The design significance of the structure lies in that a friction damping mechanism form is adopted, the low-speed effect caused by the large transmission ratio of the worm and gear mechanism is avoided, and meanwhile, the size of axial pressing force can be adjusted by matching a locking nut with a disc spring, so that the size of friction damping is adjusted.

Furthermore, a cushion pad is arranged on the bottom plate support and used for realizing the buffering and limiting of the ball head of the bypass cable.

Furthermore, a self-locking mechanism is arranged on the bypass wire clamp and used for achieving positioning and locking of a ball head of the bypass cable.

Further, self-locking mechanism includes buckle, spacing pivot, stopper, extension spring, spacing bolt, be equipped with the grooving on the bypass fastener, the buckle is installed in the grooving through spacing pivot, the stopper rotates to be connected on the bypass fastener to offset with the tip of spacing pivot all the time, the tip of spacing pivot is that two semicircles splice forms, connects the extension spring on its terminal surface to maintain the initial state that the buckle head stretches out the grooving, stopper and big footpath semicircle offset this moment, when the bulb of bypass cable upwards extrudees the head of opening the buckle, the buckle drives spacing pivot and rotates to withholding spacing bolt, stopper and the counterbalance of path semicircle this moment realize the buckle and lock against, and the bulb of bypass cable is blocked between the head and the tail of buckle.

Furthermore, the head of the limiting block is tensioned through another tension spring, and rotation limiting is realized through another limiting bolt, so that the tail of the limiting block is always abutted against the end part of the limiting rotating shaft.

Furthermore, the body support is provided with an unlocking separation blade for reversely ejecting the limiting block in the opening process of the bypass wire clamp to unlock the buckle, and the buckle is restored to the initial state under the action of the tension spring.

Furthermore, the bottom of the bypass wire clamp is connected with a horn piece for realizing the lifting and guiding of the bypass cable.

Furthermore, a cylindrical groove used for being attached to the main line and a spherical groove used for being attached to the ball head of the bypass cable are formed in the bypass cable clamp.

In addition, an operation method based on the winch working tool comprises the following steps:

1) hanging on a main line: the robot grabs a winch operation tool and drives the bypass wire clamp to be buckled into the main wire, then the bypass wire clamp is driven to start to be closed through the wire clamp locking mechanism, and the driving is stopped until the hook is hung on the main wire and the bypass wire clamp is not clamped to the main wire;

2) lifting and locking: the winch lifting mechanism drives the stranded wire wheel to lift the bypass cable to the bypass cable clamp, then the cable clamp locking mechanism continues to drive the bypass cable clamp to lock the main cable and the bypass cable, and after the lapping is completed, the robot is separated from the winch operation tool.

Further, the operation method further comprises:

3) unlocking and recovering: after the operation is finished, the robot docks the winch operation tool again, the bypass wire clamp is driven to be opened through the wire clamp locking mechanism until the hook is still hung on the main line, the bypass wire clamp loosens the bypass wire cable so that the bypass wire cable falls down from the bypass wire clamp, then the bypass wire clamp is continuously driven to be opened to the maximum opening position, and the winch operation tool is withdrawn from the main line through the robot.

Has the advantages that: the invention provides a winch operation tool for overlapping a bypass cable and an operation method thereof. The invention solves the difficulty of insufficient load of the robot, provides an idea for applying the robot to bypass operation, enriches the coverage field of live-wire operation of the robot, improves the efficiency of the bypass operation and avoids the risk of manual operation.

Drawings

FIG. 1 is a three-dimensional perspective view of a wire clamp locking mechanism in an embodiment of the present invention;

FIG. 2 is a three-dimensional perspective view of a winch hoist mechanism according to an embodiment of the present invention;

FIG. 3 is a cross-sectional view of a winch lift mechanism according to an embodiment of the present invention;

FIG. 4 is a three-dimensional perspective view of a self-locking mechanism in an embodiment of the present invention;

FIG. 5 is a three-dimensional perspective view of a body mount according to an embodiment of the present invention;

FIG. 6 is a state diagram illustrating operation of the embodiment of the present invention with the winch work implement attached to the main line;

FIG. 7 is a state diagram illustrating operation of the winch work tool in lifting the bypass line in accordance with an embodiment of the present invention;

FIG. 8 is an operational state diagram of the locking bulb of the self-locking mechanism in the embodiment of the present invention;

FIG. 9 is a partial schematic view of a clamp-locking bypass cable and main line in an embodiment of the invention;

the figure includes: 1. the device comprises a screw rod, 2, a left-handed nut, 3, a right-handed nut, 4, a large bevel gear, 5, a small bevel gear, 6, a bottom plate support, 7, a knob, 8, an inner side hook, 9, an outer side hook, 10, a stopper bolt, 11, a linear guide rail, 12, a bypass wire clamp, 13, a horn piece, 14, a bearing press ring, 15, a locking horn mouth, 16, a base, 17, a stranded wire wheel, 18, a pressure disc, 19, a grinding brake disc, 20, a friction plate, 21, a disc spring, 22, a lifting horn mouth, 23, a pulley, 24, a cushion pad, 25, a buckle, 26, a limiting rotating shaft, 27, a limiting block, 28, a tension spring, 29, a pull rod, 30, a lower bottom frame, 31, an unlocking baffle, 32, a handle support, 33, a handle, 34, a winch operation tool, 35, a gripper tool, 36, a driving tool, 37, a main wire, 38, a pull rope, 39, a ball head, 40 and a bypass cable.

Detailed Description

The following description of the preferred embodiments of the present invention with reference to the accompanying drawings will more clearly and completely illustrate the technical solutions of the present invention.

The invention discloses a robot-assisted winch operation tool for bypass cable lapping.

As shown in fig. 1, the wire clamp locking mechanism comprises a screw rod 1, a left-handed nut 2, a right-handed nut 3, a large bevel gear 4, a small bevel gear 5, a bottom plate bracket 6, a knob 7, an inner side hook 8, an outer side hook 9, a plugging bolt 10, a linear guide rail 11, a bypass wire clamp 12, a horn piece 13, a bearing press ring 14 and a locking horn mouth 15.

The left side and the right side of the bottom plate bracket 6 are respectively provided with a supporting seat, an angular contact ball bearing matched with the screw rod 1 is arranged in the supporting seat, and a knob 7 is arranged at the end part of the screw rod and used for manually adjusting the position of a nut on the screw rod; the large bevel gear 4 is in sleeve connection transmission with the screw rod 1, the small bevel gear 5 is in meshing transmission with the large bevel gear 4, the locking bell mouth 15 and the small bevel gear 5 transmit power through a flat key, the locking bell mouth and the small bevel gear are mounted on the bottom plate support 6 through a bearing, and the bearing is pressed through the bearing pressing ring 14.

The left-handed nut 2 and the right-handed nut 3 are screwed with the left tooth and the right tooth on the screw rod 1 respectively, rectangular through grooves are formed in the two bypass wire clamps 12 and are used for being matched with the left-handed nut 2 and the right-handed nut 3 respectively, and a sliding groove for the bypass wire clamps 12 to pass through is formed in the bottom plate support 6; the side of the bottom plate support 6 is provided with a linear guide rail 11, and the inner side hook 8 and the outer side hook 9 are connected to the linear guide rail 11 through sliders.

The plugging bolt 10 penetrates through holes on the inner side hook 8/the outer side hook 9 and the bypass wire clamp 12 and is screwed into the corresponding left-handed nut 2/right-handed nut 3, so that the movement of driving the wire clamp and the hook by the lead screw nut is realized; the inner side hook 8 is provided with a cylindrical pin which is matched with a waist-shaped hole on the bypass wire clamp 12, so that the bypass wire clamp 12 can rotate for a certain angle around the plug bolt 10 relative to the inner side hook 8, the angle range is determined by the waist-shaped hole, and the small floating of the bypass wire clamp is favorable for adapting to main wires with different wire diameters. And the bottoms of the two bypass wire clamps 12 are respectively provided with a horn sheet 13 for pre-guiding the ball heads of the bypass cables before entering the bypass wire clamps.

As shown in fig. 2, the winch lifting mechanism includes a base 16, a wire twisting wheel 17, a pressure disc 18, a grinding brake disc 19, a friction plate 20, a disc spring 21, a lifting bell mouth 22, a pulley 23, and a cushion pad 24.

The base 16 is installed on the bottom plate support 6, as shown in fig. 3, two grinding brake discs 19 are respectively installed on the front side and the back side of the base 16, friction plates 20 and pressure discs 18 are respectively attached to the surfaces of the two grinding brake discs 19, one side pressure disc 18 is tightly pressed through the capstan 17, the lifting bell mouth 22 tightly presses the other side pressure disc 18 through a disc spring 21, the central shaft of the capstan 17 penetrates through the pressure discs 18, the friction plates 20 and the grinding brake discs 19 on the two sides, the output shaft of the lifting bell mouth 22 is locked through a locking nut after penetrating through the central shaft of the capstan 17, and the two shafts are connected through flat key transmission.

Promote horn mouth 22 and pressure dish 18 and pass through D shape hole cooperation transmission moment of torsion, when drive promotes horn mouth 22, drive pressure dish 18 and go to hug closely the mill and stop the dish 19 rotatory, so need overcome certain frictional resistance and drive hank reel 17, the design significance of this department lies in, avoid the low quick-acting response that the turbine worm mechanism drive ratio is big to lead to, adopt the mechanism form of friction damping, when the industry is accomplished, the bypass cable slides down from the thread and need overcome this part frictional resistance, thereby realize the slow decline of cable, avoid the cable to be damaged because of the free fall. Meanwhile, the axial pressing force can be adjusted by matching the locking nut with the disc spring, and the friction damping is adjusted.

The pulley 23 is arranged in an undercut groove of the base plate bracket 6, and after the pulling rope 38 of the bypass cable 40 is led out from the stranding wheel 17, the pulling rope 38 can be turned and transited through the pulley 23, so that the pulling rope 38 hangs down at the middle position of the two bypass clamps 12. Cushion pad 24 is installed at the bottom of bottom plate bracket 6, and is used for when bypass cable 40 is lifted to bypass clip 12 by stay cord 38, cable bulb 39 hits cushion pad 24, plays certain buffering stop function.

Furthermore, a self-locking mechanism is arranged on the bypass wire clamp 12 and used for achieving positioning and locking of a ball head of the bypass cable. As shown in fig. 4, the self-locking mechanism includes a buckle 25, a limit rotating shaft 26, a limit block 27, and a tension spring 28.

A cutting groove for accommodating the buckle 25 is formed in the bypass wire clamp 12 and used for being installed in a matched mode with the buckle 25, a D-shaped hole is formed in the buckle 25, and the limiting rotating shaft 26 penetrates through the bypass wire clamp 12 and then is matched with the buckle 25 to transmit torque; the head of the limiting rotating shaft 26 is formed by splicing two semicircles, and the end surface of the limiting rotating shaft is connected with a tension spring 28 so as to maintain the initial horizontal state that the head of the buckle 25 extends out of the cutting groove. A limit block 27 is arranged on the limit of the limit rotating shaft 26 and can rotate around the bolt, the upper part of the limit block 27 is pulled by another tension spring 28 and is propped by another limit bolt, so that the tension spring 28 is always kept in a stressed state, and the lower part of the limit block 27 is always clung to the head part of the limit rotating shaft 26. The bypass wire clamp 12 is provided with a cylindrical groove for attaching the main wire 37 and a spherical groove for attaching the ball head 39, and the spherical groove is adapted to the position of the buckle 25.

The design significance here is: after the ball 39 of the bypass cable 40 enters the bypass cable clamps 12, the ball 39 can squeeze the buckles 25 at the horizontal position, the limiting rotating shaft 26 starts to rotate, the tension springs 28 on the limiting rotating shaft 26 are pulled apart, when the ball 39 continues to lift until the ball collides with the cushion pad 24, the limiting rotating shaft 26 rotates for a certain angle (is propped by the limiting bolt), at the moment, the lower part of the limiting block 27 is propped to the small-diameter semicircle by the large-diameter semicircle under the action of the tension springs 28, the limiting rotating shaft 26 is propped by the limiting block 27 and cannot rotate reversely, namely, the buckles 25 are locked reversely, after the stranded wire wheel 17 stops driving, the ball 39 of the bypass cable 40 can drop on the tail stock of the buckles 25, namely, the ball 39 is located in the two bypass cable clamps 12 and cannot drop, and the self-locking purpose is achieved.

As shown in fig. 5, the body bracket includes a pull rod 29, a lower frame 30, an unlocking stopper 31, a handle bracket 32, and a handle 33. The bottom plate bracket 6 and the lower bottom frame 30 are fixedly connected through a pull rod 29, the two unlocking blocking pieces 31 are installed on the side surface of the lower bottom frame 30 and used for reversely ejecting the limiting block 27 in the opening process of the bypass wire clamp 12, the lower part of the limiting block 27 is withdrawn from the limiting rotating shaft 26, and the limiting rotating shaft 26 returns to the initial position under the action of the tension spring 28, namely the buckle 25 is unlocked and returns to the horizontal position; the handle 33 is installed at the bottom of the lower bottom frame 30 through a handle support 32, is in an arc-shaped design, and is matched with a hand grab tool 35 to realize quick grabbing.

The operation method based on the winch working tool comprises the following steps:

first step-preparation: one end of a pull rope 38 is tied to a stranding wheel of the winch tool 34, the other end of the pull rope is tied to a ball head 39 of a bypass cable 40, the bypass wire clamp 12 is opened to the maximum through the knob 7, whether the buckle 25 is unlocked or not is checked, and three winch working tools 34 are pre-installed and placed on a tool library of the robot to be used for three-phase working.

Second step-main line hooking: the robot is lifted to a working area along with the insulating bucket arm vehicle, one mechanical arm takes out the prepared winch working tool 34 through the gripper tool 15, moves to the position near the stripped main line and buckles the bypass wire clamp 12 on the winch working tool 34 into the main line; the other mechanical arm takes out the driving tool 36, enters the locking bell mouth 15, drives the bypass wire clamp 12 and the four hooks to be tightened together through the screw rod 1, and stops driving when the hooks are hung on the main wire and the bypass wire clamp 12 does not start to clamp the main wire 37, as shown in fig. 6. At the moment, the gripper mechanical arm is changed into a driving-free mode, and the weight of the whole tool is borne by the main line.

Step three-lifting self-locking: the robot controls the driving tool 36 to exit from the locking bell mouth 15, enters the lifting bell mouth 22 and starts to drive the wire twisting wheel 17, the bypass cable 40 on the ground is lifted under the action of the pull rope 38 (as shown in fig. 7), until the ball head 39 of the bypass cable 40 enters the bypass wire clamp 12, the buckle 25 is triggered to deflect, and when the ball head 39 reaches the cushion pad 24, the buckle 25 is self-locked, as shown in fig. 8; at this time, the robot control driving tool 36 is withdrawn from the lifting bell 22, and the bulb 39 of the bypass cable 40 slowly falls from the position of the buffer pad 24 onto the buckle 25 in the cable clamp groove, so that self-locking is realized.

Step four-locking and lapping: the robot controls the driving tool 36 to enter the locking bell 15 again, drives the two bypass clamps 12 to tighten continuously, and locks the main wire 37 and the bulb 39 of the bypass cable 40 together, as shown in fig. 9; after the lapping is completed, the robot drives the gripper tool 35 to separate from the winch working tool 34, the winch working tool 34 is left on the lapped main line 37, and the robot continues lapping operation of the two-phase bypass cable and the three-phase bypass cable, and the steps are the same as the above.

The fifth step, unlocking and recovering: when the bypass operation lap joint is completed and the equipment between the lines is repaired or replaced, the bypass tool and the bypass cable 40 on the main line 37 need to be retracted, at the moment, the robot grabs the handle 33 on the winch tool 34 again through the gripper tool 35, the other mechanical arm drives the driving tool 36 to enter the locking bell mouth 15, the screw rod 1 is driven reversely, the bypass wire clamp 12 is opened for a certain distance to ensure that four hooks are still hung on the main line, the ball head 39 of the bypass cable 40 can slide down from the buckle 25 in the bypass wire clamp 12, the bypass cable 12 slowly descends in a non-free falling mode due to certain friction resistance of the winch wheel 17, after the cable completely reaches the ground, the driving tool 36 continues to drive the bypass wire clamp 12 to be opened to the maximum, the buckle 25 is triggered to be unlocked, the buckle 25 returns to the initial position, and at the same time, the robot retracts the winch tool 34 from the main line 37 through the gripper tool 35, the bypass operation is completed.

In the operation process, the weight of the bypass cable is completely borne by the main line, and the robot only enables the winch operation tool to keep the posture (and the protection function) through the gripper tool and does not bear the weight of the cable, so that the robot is well protected.

The above detailed description merely describes preferred embodiments of the present invention and does not limit the scope of the invention. Without departing from the spirit and scope of the present invention, it should be understood that various changes, substitutions and alterations can be made herein by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims and their equivalents.

Claims (18)

1. A winch work tool for bypass cable overlap, comprising:

the body support is used for being fixedly butted with the tail end of the robot, and a stranded wire wheel and a bypass wire clamp are arranged on the body support;

the winch lifting mechanism is used for driving the wire stranding wheel to lift the bypass cable to the bypass wire clamp;

the wire clamp locking mechanism is used for driving the bypass wire clamp to lock the main wire and the bypass cable;

the bypass cable is connected to the wire twisting wheel through the pull rope, and the bypass wire clamp is connected with the hook and used for realizing hooking of the winch operation tool on the main wire.

2. The winch operation tool for the overlapping of the bypass cables as claimed in claim 1, wherein the cable clamp locking mechanism comprises a lead screw and a bottom plate support, the bottom plate support is fixedly connected with the body support, the lead screw is erected on the bottom plate support, the bypass cable clamp is respectively sleeved on the lead screw through a left-handed nut and a right-handed nut, a chute for the bypass cable clamp to pass through is formed in the bottom plate support, and the opening and closing of the bypass cable clamp are controlled through the rotation driving of the lead screw.

3. The winch working tool for the lap joint of the bypass cable according to claim 2, wherein a large bevel gear is sleeved on the screw rod, a small bevel gear and a locking bell mouth which are coaxially mounted are arranged on the bottom plate bracket, the locking bell mouth is used for butt joint transmission with the tail end of the robot, and further the screw rod is driven to rotate through meshing transmission between the small bevel gear and the large bevel gear.

4. The winch work tool for bypass cable splicing of claim 2, wherein the base support is provided with a linear guide rail, and the hook is slidably connected with the linear guide rail through a slider.

5. The winch work tool for bypass cable overlap joint of claim 4, wherein the bypass clamp is provided with a rectangular through slot for accommodating a left-handed nut/right-handed nut, and the bypass clamp is connected with the corresponding hook and the left-handed nut/right-handed nut through a tuck bolt.

6. The winch work tool for bypass cable overlap joint of claim 5, wherein the hook is provided with a cylindrical pin, the bypass cable clamp is provided with a kidney-shaped hole, and rotation limitation of the bypass cable clamp around the plug bolt is realized through cooperation of the cylindrical pin and the kidney-shaped hole.

7. The winch working tool for the bypass cable lap joint of claim 2, wherein the winch lifting mechanism comprises a base and a lifting bell mouth, the base is fixedly connected with a bottom plate support, the wire twisting wheel and the lifting bell mouth are installed on the base, a pulley for guiding a pull rope is arranged on the bottom plate support, and the lifting bell mouth is used for being in butt joint transmission with the tail end of the robot and realizing the rotary driving of the wire twisting wheel.

8. The winch work tool of claim 7, wherein the base is provided with a damping mechanism for increasing the rotational damping of the winch cable.

9. The winch operation tool for the bypass cable lap joint is characterized in that the damping mechanism comprises a pressure disc, a friction disc, a grinding brake disc and a disc spring, the grinding brake disc, the friction disc and the pressure disc are sequentially arranged on two sides of the base, the stranded wire wheel presses the pressure disc on one side, the lifting bell mouth presses the pressure disc on the other side through the disc spring, the central shaft of the stranded wire wheel penetrates through the pressure disc, the friction disc and the grinding brake disc on the two sides, the output shaft of the lifting bell mouth is in sleeve connection with the central shaft of the stranded wire wheel and achieves axial locking through a locking nut, the grinding brake disc is fixedly connected with the base, and the pressure disc is in transmission connection with the central shaft of the stranded wire wheel.

10. The winch work tool for bypass cable splicing of claim 7, wherein a cushion pad is arranged on the bottom plate bracket below the pulley for realizing the buffer limit of the ball head of the bypass cable.

11. The winch working tool for bypass cable overlap joint of claim 1, wherein a self-locking mechanism is arranged on the bypass cable clamp for positioning and locking a ball head of the bypass cable.

12. The winch operation tool for the bypass cable lap joint is characterized in that the self-locking mechanism comprises a buckle, a limiting rotating shaft, a limiting block, a tension spring and a limiting bolt, a cutting groove is formed in the bypass cable clamp, the buckle is installed in the cutting groove through the limiting rotating shaft, the limiting block is connected to the bypass cable clamp in a rotating mode and is abutted to the end portion of the limiting rotating shaft all the time, the end portion of the limiting rotating shaft is formed by splicing two semicircles, the tension spring is connected to the end face of the limiting rotating shaft to maintain the initial state that the head portion of the buckle extends out of the cutting groove, the limiting block is abutted to the large-diameter semicircle at the moment, when the head portion of the buckle is upwards squeezed open by the ball head of the bypass cable, the limiting rotating shaft is driven by the buckle to abut against the limiting bolt, the limiting block is abutted to the small-diameter semicircle at the moment to achieve the reverse locking of the buckle, and the ball head portion of the bypass cable is clamped between the head and the tail of the buckle.

13. The winch working tool for bypass cable overlapping according to claim 12, wherein the head of the stopper is tensioned by another tension spring, and rotation limitation is achieved by another stopper bolt, so that the tail of the stopper bolt always abuts against the end of the limiting rotation shaft.

14. The winch operation tool for the bypass cable lap joint of claim 12, wherein an unlocking blocking sheet is arranged on the body support and used for reversely ejecting the limiting block in the process of opening the bypass cable clamp to realize the unlocking of the buckle, and the buckle is restored to the initial state under the action of the tension spring.

15. The winch work tool for bypass cable splicing of claim 1, wherein a horn is connected to the bottom of the bypass clamp for guiding the bypass cable in a lifting manner.

16. The winch work tool for bypass cable splicing of claim 1, wherein the bypass cable clamp is provided with a cylindrical groove for fitting the main cable and a spherical groove for fitting a bulb of the bypass cable.

17. A method of operating a winch work tool as claimed in claim 1, comprising the steps of:

1) hanging on a main line: the robot grabs a winch operation tool and drives the bypass wire clamp to be buckled into the main wire, then the bypass wire clamp is driven to start to be closed through the wire clamp locking mechanism, and the driving is stopped until the hook is hung on the main wire and the bypass wire clamp is not clamped to the main wire;

2) lifting and locking: the winch lifting mechanism drives the stranded wire wheel to lift the bypass cable to the bypass cable clamp, then the cable clamp locking mechanism continues to drive the bypass cable clamp to lock the main cable and the bypass cable, and after the lapping is completed, the robot is separated from the winch operation tool.

18. The method of operation of claim 17, further comprising:

3) unlocking and recovering: after the operation is finished, the robot docks the winch operation tool again, the bypass wire clamp is driven to be opened through the wire clamp locking mechanism until the hook is still hung on the main line, the bypass wire clamp loosens the bypass wire cable so that the bypass wire cable falls down from the bypass wire clamp, then the bypass wire clamp is continuously driven to be opened to the maximum opening position, and the winch operation tool is withdrawn from the main line through the robot.

Images