A four-state flying fire-building intelligent robot and method

Abstract

The present invention provides a four-state flying fire-making intelligent robot, which belongs to the technical field of power transmission and distribution, and includes a fire-making robot for fire-making operations and a flying robot for hoisting the fire-making robot, wherein a wheel group arm is fixedly connected to the middle of the right side of the fire-making robot, a wiring wheel group is movably connected to one side of the wheel group arm, a wire stripping wheel group is movably connected to the top of the fire-making robot, a wire clamping device is movably connected to the upper right side of the fire-making robot, a mechanical arm is movably connected to the bottom right side of the fire-making robot, a mechanical claw for clamping a drainage line is fixedly connected to the end of the mechanical arm, a suspension mechanism for hoisting is provided on the fire-making robot, and a hoisting mechanism for grabbing the suspension mechanism is provided on the flying robot. The present invention can perform live maintenance, wiring, fire-making and drainage on high-voltage lines through the combination of the flying robot and the fire-making robot, thereby improving the connection and drainage efficiency of high-voltage lines.

Description

Technical Field

[0001] The invention belongs to the technical field of power transmission and distribution, and relates to a four-state flying ignition intelligent robot. Background Art

[0002] With the rapid development of science and technology, intelligent robots have begun to be produced and used. Intelligent machines are used to replace manual labor to complete complex and dangerous tasks. High-voltage line ignition is a very dangerous task. Live work on high-voltage lines threatens the life safety of workers at all times. Existing high-voltage line ignition work is mostly done manually, which is dangerous and inefficient. Therefore, there are currently robot systems for ignition, such as a distribution network live connection and drainage line robot system disclosed in CN108839037A, including an insulated boom truck and a live ignition device. The live ignition device is lifted to a designated position by the lifting system of the insulated boom truck for ignition operations. However, high-voltage lines are usually built on high mountains, with extremely high altitudes and complex terrain. It is difficult for insulated boom trucks to travel to outdoor mountainous areas, and the scope of operation is limited. Summary of the invention

[0003] In order to solve the problem that the existing ignition device is mainly based on a vehicle-mounted lifting system, is severely restricted by the road environment and the working environment, and the special vehicle-mounted ignition equipment is expensive, the present invention provides a four-state flying ignition intelligent robot which drives the ignition robot by controlling a drone. The flying robot and the ignition robot are combined to perform live maintenance, wiring, ignition and drainage on the high-voltage line. The ignition robot is firmly fixed on the high-voltage line by a wiring wheel group, the drainage line is grabbed and connected by a mechanical arm and a mechanical claw, the insulation layer of the high-voltage line is stripped by a wire stripping wheel group and a wire stripping knife, and the drainage line is tightly connected to the high-voltage line by a wire clamping device, thereby effectively reducing the trouble of manual work and improving the efficiency of high-voltage line connection and drainage.

[0004] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a flying fire-building robot, comprising a fire-building robot for fire-building operations and a flying robot for hoisting the fire-building robot, a wheel arm fixedly connected to the middle of the right side of the fire-building robot, a wiring wheel group movably connected to one side of the wheel arm, a wire stripping wheel group movably connected to the top of the fire-building robot, a wire clamping device movably connected to the upper right side of the fire-building robot, a mechanical arm movably connected to the bottom right side of the fire-building robot, a mechanical claw for clamping a drainage line fixedly connected to the end of the mechanical arm, a suspension mechanism for hoisting is provided on the fire-building robot, and the flying robot is provided with a hoisting mechanism for grabbing the suspension mechanism.

[0005] Further preferably, the flying robot has landing gears movably connected on both sides of the bottom, a control sensor unit is fixedly arranged in the middle of the bottom of the flying robot, U-shaped connecting rods are fixedly connected on both sides of the control sensor unit, the U-shaped connecting rods are connected to lifting arms, a lifting arm is movably connected in the middle of the lifting arm, and a lifting hook is movably connected to the end of the lifting arm, and the lifting hook, the lifting arm and the lifting arm together constitute a lifting mechanism.

[0006] Further preferably, the lifting hook is composed of a left hook and a right hook, the upper ends of the left hook and the right hook are commonly connected to the rotating shaft at the lower end of the lifting arm, the left hook and the right hook are both composed of a hook fixed arm and a hook movable arm, the hook movable arms of the left hook and the right hook are both provided with buckles, the upper ends of the hook movable arms of the left hook and the right hook are respectively welded to connecting rods, the two connecting rods are commonly connected to the mounting shaft of the gear, the mounting shaft of the gear is connected to the motor, the gear is meshed with the vertical rack, the upper end of the vertical rack is fixedly connected to the hook fixed arm, and the lower end is connected to the lower part of the hook fixed arm through a fixing rod, and a slot is provided on the suspension mechanism of the ignition robot, and when the left hook and the right hook are closed, the buckle is snapped into the slot.

[0007] Further preferably, an electromagnet is fixedly connected above the buckle.

[0008] Further preferably, a slot is provided on the outer shell of the wire stripping wheel assembly, and the outer shell of the wire stripping wheel assembly is used as a hanging mechanism.

[0009] Further preferably, the routing wheel group consists of a fixed wheel and a movable wheel, the fixed wheel is installed on the upper end of the wheel group arm through a rotating shaft, the movable pulley is connected to the guide rail of the wheel group arm and connected to a lifting motor, and the fixed pulley is connected to a walking drive motor that drives the fixed wheel to rotate.

[0010] Further preferably, the robotic arm is composed of a main rotating shaft, a first robotic arm, a second robotic arm and a third robotic arm. The first robotic arm is connected to the main rotating shaft, and the main rotating shaft is driven to rotate by a motor to rotate the robotic arm. The second robotic arm is connected to the first robotic arm, and the third robotic arm is connected to the second robotic arm. The first robotic arm, the second robotic arm and the third robotic arm can all rotate in three-axis directions, and a robotic claw for grasping the drainage line is installed on the third robotic arm.

[0011] Further preferably, a rotating plate is fixedly connected to the right side of the stripping wheel group, wire stripping knives are fixedly connected at both ends of the rotating plate, a telescopic column is fixedly connected to the bottom of the wire stripping knife, and a radial wire stripping tool is fixedly connected above the wire stripping knife at the upper end of the rotating plate, and an axial wire stripping tool is fixedly connected to the wire stripping knife at the lower end of the rotating plate, the radial wire stripping tool is composed of two semicircular tools, and the axial wire stripping tool 9 is composed of two transverse blades.

[0012] A four-state flying ignition method, characterized in that the ignition robot is hoisted onto the high-voltage line by a flying robot, and then the flying robot is separated from the ignition robot, including the following four working states:

[0013] Walking state: After the ignition robot is sent to the high-voltage wire by the flying robot, the fixed wheel above the robot's routing wheel group is clamped on the high-voltage wire, and the movable wheel below is driven by the motor to move upward in the track and closely contact with the fixed wheel, fixing the high-voltage wire between the two wheels. The fixed wheel drives the ignition robot to move on the high-voltage wire through the internal motor;

[0014] Gripping state: The ignition robot then grabs the drainage line through the movement of the mechanical arm and the mechanical claw, and grabs the drainage line through two clamping grippers before taking off;

[0015] Stripping state: After the ignition robot walks in place on the high-voltage line, the stripping wheel group drives the stripping knife through the internal motor gear plate to strip the insulation layer of the high-voltage line. The insulation is cut axially and radially by the radial stripping knife and the axial stripping knife, and then the insulation of the high-voltage line falls off;

[0016] Wiring status: After stripping, the drainage line is finally brought to the high-voltage line connection point by the mechanical claw, the angle adjustment gripper adjusts the height and angle of the drainage line, and the lifting gripper lifts the drainage line to facilitate the connection between the drainage line and the high-voltage line. Then, the bottom wire clamp is pushed upward by the electric wrench to clamp the drainage line and the high-voltage line. At this time, the two are tightly connected by extrusion, and the high-voltage line completes the connection and drainage operation.

[0017] The present invention has the following beneficial effects:

[0018] 1. The present invention can perform live inspection, wiring and drainage of high-voltage lines through the combination of a flying robot and a fire-starting robot, thereby avoiding the impact of power outages on production and life, and also avoiding harm to personal safety caused by manual live operations. There is no need for special fire-starting vehicles, the equipment cost is low, the operation method is flexible, and it is not restricted by the working environment such as road conditions.

[0019] 2. The advantages of the present invention are that the fire-starting robot is firmly fixed on the high-voltage line by the wiring wheel group, and the fire-starting robot moves on the high-voltage line, the drainage line is grabbed and connected by the mechanical arm and the mechanical claw, the insulation layer of the high-voltage line is stripped by the wire stripping wheel group and the wire stripping knife, the drainage line is tightly connected to the high-voltage line by the wire clamping device, and the four working states of the fire-starting robot, namely walking, clamping, stripping and connecting, effectively reduce the trouble of manual operation and improve the efficiency of high-voltage line connection and drainage.

[0020] 3. Finally, the flying robot and the ignition robot are quickly connected and disconnected through the lifting hook and lifting arm, and the connection between the two is further strengthened through the electromagnet to avoid disconnection during transportation due to external reasons, which may cause personal injury and property loss. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the front plan structure of the fire-building robot of the device of the present invention.

[0022] Figure 2 It is a schematic diagram of the side plan structure of the fire-building robot of the device of the present invention.

[0023] Figure 3 This is a schematic diagram of the connection structure between the fire-building robot and the flying robot of the device of the present invention.

[0024] Figure 4 It is a schematic diagram of the structure of the lifting hook of the device of the present invention.

[0025] Figure 5 It is a schematic diagram of the structure of the mechanical claw of the device of the present invention.

[0026] Figure 6 It is a schematic structural diagram of the wire clamping device of the present invention.

[0027] Figure 7 The present invention is a schematic diagram of the structure of the wire stripping wheel assembly and the wire stripping knife.

[0028] In the figure: 1. routing wheel assembly; 2. wheel assembly arm; 3. ignition robot; 4. mechanical arm; 401. mechanical claw; 5. wire clamping device; 501. wire clamp arm; 502. electric wrench; 6. wedge-shaped wire clamp; 7. wire clamp clamp; 8. wire stripping wheel assembly; 801. slot; 802. rotating plate; 9. wire stripping knife; 901. telescopic column; 902. radial wire stripping tool; 903. axial wire stripping tool; 10. landing gear; 11. lifting arm; 12. lifting hook; 1201. electromagnet; 1202. buckle; 1203. gear; 1204. vertical rack; 1205. connecting rod; 13. lifting arm; 14. U-shaped connecting rod; 15. control sensor unit; 16. flying robot; 17. grab block; 18. clamping gripper; 19. lifting gripper; 20. angle adjustment gripper. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] Reference Figure 1-Figure 7 A flying fire-building robot comprises a fire-building robot 3 for fire-building operations and a flying robot 16 for hoisting the fire-building robot 3, such as Figure 1 As shown, a wheel group arm 2 is fixedly connected to the middle of the right side of the fire-making robot 3, and a wiring wheel group 1 is movably connected to one side of the wheel group arm 2. The wiring wheel group 1 serves as a walking mechanism for driving the fire-making robot 3 to walk on the high-voltage line. A wire stripping wheel group 8 is movably connected to the top of the fire-making robot 3. The function of the wire stripping wheel group 8 is to strip the insulating outer skin of the high-voltage line in preparation for fire-making. A wire clamping device 5 is movably connected to the upper right side of the fire-making robot 3. The function of the wire clamping device 5 is to connect the drainage line with the high-voltage line to achieve fire-making. A mechanical arm 4 is movably connected to the bottom right side of the fire-making robot 3, and a mechanical claw 401 for clamping the drainage line is fixedly connected to the end of the mechanical arm 4. The mechanical arm 4 lifts the drainage line to the high-voltage line position so that the wire clamping device 5 clamps the drainage line and the high-voltage line together. Figure 3 As shown, the fire-building robot 3 is provided with a suspension mechanism for hoisting, and the flying robot 16 is provided with a hoisting mechanism for grabbing the suspension mechanism. The flying robot 16 lifts the fire-building robot 3 and flies to the position of the high-voltage line, and hangs the fire-building robot 3 on the high-voltage line.

[0031] like Figure 3 As shown, the two sides of the bottom of the flying robot 16 are movably connected with the landing gear 10, the middle of the bottom of the flying robot 16 is fixedly provided with a control sensor unit 15, the two sides of the control sensor unit 15 are fixedly connected with U-shaped connecting rods 14, the U-shaped connecting rods 14 are connected to the lifting arm 13, the middle of the lifting arm 13 is movably connected with the hoisting arm 11, the end of the hoisting arm 11 is movably connected to the hoisting hook 12, the ignition robot 3 is grabbed by the hoisting hook 12, and the control sensor unit 15 is remotely controlled to control the flying robot 16 to fly and the lifting arm 13 to rise and fall. The lifting hook 12, the lifting arm 11 and the lifting arm 13 together constitute a hoisting mechanism.

[0032] Further, such as Figure 4As shown, the lifting hook 12 is composed of a left hook and a right hook, the upper ends of the left hook and the right hook are commonly connected to the rotating shaft at the lower end of the lifting arm 11, the left hook and the right hook are composed of a hook fixed arm and a hook movable arm, the hook movable arms of the left hook and the right hook are both provided with buckles 1202, the upper ends of the hook movable arms of the left hook and the right hook are respectively welded to connecting rods 1205, the two connecting rods 1205 are commonly connected to the mounting shaft of the gear 1203, the mounting shaft of the gear 1203 is connected to the motor, and the gear 1203 is connected to the vertical rack 120 4 meshing, the upper end of the vertical rack 1204 is fixedly connected to the hook fixing arm, and the lower end is connected to the lower part of the hook fixing arm through a fixing rod. The gear 1203 is moved downward or upward in the vertical rack 1204 by operating the motor, and then the connecting rod 1205 is driven to move downward or upward, changing the angle of the two hook movable arms, so that the left hook and the right hook are opened or closed. The suspension mechanism of the ignition robot 3 is provided with a slot 801. When the left hook and the right hook are closed, the buckle 1202 is clamped into the slot 801 to achieve clamping and lifting. In order to simplify the structure, as shown in FIG. Figure 7 As shown, a slot 801 is provided on the outer shell of the wire stripping wheel assembly 8, and the outer shell of the wire stripping wheel assembly 8 is used as a hanging mechanism.

[0033] The above hoisting hook 12 uses an electric motor to drive the gear 1203 to move in the vertical rack 1204 as a suspension clamping operating mechanism, and the front and rear sides of the hoisting hook are provided with gears 1203 and vertical racks 1204, so that the left and right hooks are more stable and accurate during the opening and closing process.

[0034] For the above structure, the left hook and the right hook may not be divided into the hook fixed arm and the hook movable arm. The left hook and the right hook are commonly connected to the top rotating shaft for rotation. The vertical rack 1204 is fixed by a separate fixing mechanism and is not connected to the left hook and the right hook. At this time, when the gear 1203 drives the connecting rod 1205 to change its angle, changing the angle of the left hook and the right hook can also achieve opening or closing.

[0035] The left hook and the right hook are both composed of a hook fixed arm and a hook movable arm. The hook movable arms of the left hook and the right hook are both provided with a buckle 1202. An electromagnet 1201 is fixedly connected above the buckle 1202. The buckle 1202 below the hoisting hook arm will be stuck in the slot 801 of the stripping wheel group 8 during connection, so that the ignition robot 3 and the flying robot 16 are closely connected. At the same time, the electromagnet 1201 is energized, and the two electromagnets 1201 attract each other to further fix the connection. Relatively speaking, the electromagnet 1201 is used as the hoisting operation mechanism, which has a shorter reaction time and is more convenient to operate.

[0036] Furthermore, the routing wheel group 1 is composed of a fixed wheel and a movable wheel. The fixed wheel is installed on the upper end of the wheel group arm 2 through a rotating shaft, the movable pulley is connected to the guide rail of the wheel group arm 2 and is connected to a lifting motor, the fixed pulley is connected to a walking drive motor that drives the fixed wheel to rotate, and the movable wheel is driven by the lifting motor to move up and down in the guide rail of the wheel group arm 2, and the fixed wheel above the routing wheel group 1 is clamped above the high-voltage wire, and the lower movable wheel is driven by the motor to move upward in the guide rail and clamp the high-voltage wire together with the fixed wheel to prevent the high-voltage wire from shaking and causing the fire-making robot 3 to overturn. At the same time, the fixed wheel is driven to rotate by the walking drive motor. Due to the action of friction, the fixed wheel walks on the high-voltage wire, driving the fire-making robot 3 to move on the high-voltage wire.

[0037] Furthermore, the mechanical arm 4 is used to carry the drainage line, and needs to lift the drainage line to the firing position, and it should not affect the flight, so the mechanical arm 4 should be flexible and have sufficient strength, such as Figure 1 and Figure 2 As shown, the robot arm 4 is composed of a main shaft, a first robot arm, a second robot arm and a third robot arm. The first robot arm is connected to the main shaft, and the main shaft is driven to rotate by a motor to rotate the robot arm. The second robot arm is connected to the first robot arm, and the third robot arm is connected to the second robot arm. The first robot arm, the second robot arm and the third robot arm can all rotate in three-axis directions (X-axis, Y-axis, and Z-axis). The first robot arm, the second robot arm and the third robot arm cooperate to achieve flexible movement and can move to any required target position. The robot arm that can swing in three-axis directions can adopt the structure of the existing technology. For example, one end of the robot arm is movably connected as a fulcrum, and retractable connecting rods are respectively arranged in three directions. The robot arm can be swung in various directions by adjusting the length of each connecting rod. The mechanical claw 401 for grabbing the drainage wire is installed on the third mechanical arm. Because when the drainage wire and the high-voltage wire are connected, the angle between the drainage wire and the high-voltage wire at the connecting part cannot be too different, so the mechanical claw 401 is composed of two clamping grippers 18, an angle adjustment gripper 20 and a lifting gripper 19 (such as Figure 5 As shown), the two clamping grippers 18 are symmetrically arranged. The two gripping blocks 17 are directly opposite to each other during the process of grabbing the high-voltage line. During the process of closing the two clamping grippers 18, the two gripping blocks 17 can be tightly closed to grab the high-voltage line. The drainage line is clamped by closing the two clamping grippers 18. The angle adjustment gripper 20 also clamps the drainage line. The angle adjustment gripper 20 is provided with a height adjustment mechanism. The height of the angle adjustment gripper 20 is adjusted to adjust the angle of the drainage line of the ignition part. The lifting gripper 19 lifts the drainage line to facilitate the angle adjustment gripper 20 to adjust the angle of the drainage line.

[0038] Furthermore, the wire stripping wheel group 8 is connected to the wheel group gear through the motor gear, and a rotating plate 802 is fixedly connected to the right side of the wire stripping wheel group 8. A card slot 801 is fixedly embedded above the shell of the wire stripping wheel group 8. The gear of the wire stripping wheel group 8 is driven by the motor to rotate and then drives the rotating plate 802 to rotate slowly. The card slot 801 is connected with the buckle 1202 to realize the connection between the flying robot and the fire-making robot.

[0039] Further, such as Figure 7 As shown, the two ends of the rotating plate 802 are fixedly connected with wire stripping knives, the bottom of the wire stripping knife 9 is fixedly connected with a telescopic column 901, and the upper part of the rotating plate 802 is fixedly connected with a radial wire stripping tool 902, and the wire stripping knife at the lower end of the rotating plate 802 is fixedly connected with an axial wire stripping tool 903. The radial wire stripping tool 902 is composed of two semicircular tools, and the axial wire stripping tool 903 is composed of two transverse blades. The radial wire stripping tool 902 and the axial wire stripping tool 903 are respectively connected to the two ends of the rotating plate 802. The rotating plate 802 is driven by the gear of the wire stripping wheel group 8 to rotate slowly. The axial wire stripping tool 903 is close to the surface of the high-voltage line. The height of the telescopic column 901 is adjusted by a small motor so that the axial wire stripping tool 903 The radial wire stripping tool 902 is close to the surface of the high-voltage wire and the telescopic rod 901 of the radial wire stripping tool 902 is adjusted in height by a small motor so that the two semicircular tools are close to the insulation skin of the high-voltage wire and cut the insulation skin. Since the two semicircular tools form a complete circle when closed, the radial wire stripping tool 902 is two semicircular tubes, and semicircular tools are installed at both ends of the two semicircular tubes, so that the insulation skin of the high-voltage wire can be cut in an annular manner without rotation. After the insulation skin is cut axially and radially, the insulation skin of the high-voltage wire falls off.

[0040] Furthermore, the wire clamping device 5 is fixedly connected to a wire clamp arm 501, one side of the wire clamp arm 501 is fixedly connected to an electric wrench 502, a wedge-shaped wire clamp 6 is fixedly connected to the top of the wire clamp arm 501, and wire clamp clips 7 are movably connected to both sides of the wedge-shaped wire clamp 6. There are two wire clamp clips 7, one is fixedly connected to the top of the wedge-shaped wire clamp 6, and the other is movably connected to the electric wrench 502. The two wire clamp clips 7 are provided with circular teeth that match each other. The upper wire clamp clip 7 is placed on the high-voltage wire, and the electric wrench 502 drives the lower wire clamp clip 7 to move upward. As the teeth of the two wire clamp clips 7 gradually engage, the connection between the high-voltage wire and the drainage wire is gradually tightened, thereby ensuring safe and efficient drainage of the high-voltage wire.

[0041] Working principle: The present invention performs wiring and drainage when the high-voltage line is energized. The flying robot 16 and the fire-laying robot 3 are combined to complete the operation. The flying robot 16 is controlled by an external remote control device to connect with the fire-laying robot 3, and the flying robot 16 takes off. The distance between the lifting hook 12 and the wire stripping wheel group 8 of the fire-laying robot 3 is adjusted by controlling the sensor unit 15. When the lifting hook 12 is close to the wire stripping wheel group 8, the lifting hook arm is opened to continue to reduce the distance between the lifting hook arm and the wire stripping wheel group 8. The buckle 1202 below the lifting hook arm contacts the corresponding buckle of the wire stripping wheel group 8. When the gear moves to the slot 801, the gear moves upward in the guide rail, so that the distance between the left and right hooks is reduced, and the left and right hooks slowly close. At this time, the buckle 1202 will be inserted into the slot 801, and the lifting hook 12 is pulled upward to tighten inward. At this time, the buckle 1202 will be stuck in the slot 801, connecting the ignition robot 3 to the bottom of the flying robot 16, and at the same time, the electromagnet 1201 is energized, and the two magnets attract each other to further fix the connection. When disengaging, just cut off the power of the electromagnet 1201, lower the altitude of the flying robot, release the lifting hook 12, and the buckle 1202 disengages from the slot 801, so as to realize the rapid disengagement between the two.

[0042] Walking state: After the fire-building robot 3 is sent onto the high-voltage wire by the flying robot 16, the fixed wheel above the robot's routing wheel group 1 is clamped on the high-voltage wire, and the movable wheel below is driven by a motor to move upward in the track and closely contact with the fixed wheel, fixing the high-voltage wire between the two wheels to prevent the fire-building robot 3 from overturning due to the shaking of the high-voltage wire. The fixed wheel drives the fire-building robot 3 to move on the high-voltage wire through the internal motor.

[0043] Clamping state: The ignition robot 3 then grabs the drainage line through the movement of the mechanical arm 4 and the mechanical claw 401. The mechanical claw 401 is divided into two clamping grippers 18, an angle adjustment gripper 20 and a lifting gripper 19. The drainage line is grabbed by the two clamping grippers 18 before takeoff.

[0044] Stripping state: After the ignition robot 3 walks into position on the high-voltage line, the stripping wheel group 8 drives the stripping knife 9 through the internal motor gear plate to strip the insulation layer of the high-voltage line. The insulation layer of the high-voltage line is cut axially and radially by the radial stripping tool 902 and the axial stripping tool 903, and then the insulation layer falls off.

[0045] Wiring status: After stripping, the drainage line is finally brought to the high-voltage line connection point by the mechanical claw 401, the angle adjustment gripper 20 adjusts the height and angle of the drainage line, and the lifting gripper 19 lifts the drainage line to facilitate the connection between the drainage line and the high-voltage line to prevent the drainage line from slipping during the grabbing process and falling during the connection process, and then the electric wrench 502 is used to push the bottom wire clamp 7 upward to clamp the drainage line and the high-voltage line. At this time, the two are tightly connected by extrusion, and the high-voltage line completes the connection and drainage operation.

[0046] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A four-state flying fire-riding intelligent robot, characterized by: It comprises a fire-building robot for fire-building operations and a flying robot for hoisting the fire-building robot, wherein a wheel group arm is fixedly connected to the middle of the right side of the fire-building robot, a wiring wheel group is movably connected to one side of the wheel group arm, a wire stripping wheel group is movably connected to the top of the fire-building robot, a wire clamping device is movably connected to the upper right side of the fire-building robot, a mechanical arm is movably connected to the bottom right side of the fire-building robot, a mechanical claw for clamping a drainage line is fixedly connected to the end of the mechanical arm, a suspension mechanism for hoisting is provided on the fire-building robot, and a hoisting mechanism for grabbing the suspension mechanism is provided on the flying robot; The two sides of the bottom of the flying robot are movably connected with landing gears, a control sensor unit is fixedly arranged in the middle of the bottom of the flying robot, U-shaped connecting rods are fixedly connected on both sides of the control sensor unit, the U-shaped connecting rods are connected to the lifting arms, a lifting arm is movably connected in the middle of the lifting arm, and a lifting hook is movably connected to the end of the lifting arm, and the lifting hook, the lifting arm and the lifting arm together constitute a lifting mechanism; The hoisting hook is composed of a left hook and a right hook, the upper ends of the left hook and the right hook are commonly connected to the rotating shaft at the lower end of the hoisting arm, the left hook and the right hook are both composed of a hook fixing arm and a hook movable arm, the hook movable arms of the left hook and the right hook are both provided with buckles, the upper ends of the hook movable arms of the left hook and the right hook are respectively welded to connecting rods, the two connecting rods are commonly connected to the mounting shaft of the gear, the mounting shaft of the gear is connected to the motor, the gear is meshed with the vertical rack, the upper end of the vertical rack is fixedly connected to the hook fixing arm, and the lower end is connected to the lower part of the hook fixing arm through a fixing rod, and a slot is provided on the suspension mechanism of the ignition robot, and when the left hook and the right hook are closed, the buckle is snapped into the slot; The mechanical arm is composed of a main rotating shaft, a first mechanical arm, a second mechanical arm and a third mechanical arm. The first mechanical arm is connected to the main rotating shaft. The main rotating shaft is driven to rotate by a motor to rotate the mechanical arm. The second mechanical arm is connected to the first mechanical arm. The third mechanical arm is connected to the second mechanical arm. The first mechanical arm, the second mechanical arm and the third mechanical arm can all rotate in three-axis directions. The mechanical claw for grabbing the drainage line is installed on the third mechanical arm; the mechanical claw is composed of two clamping grippers, an angle adjustment gripper and a lifting gripper. The two clamping grippers are symmetrically arranged. The angle adjustment gripper is provided with a height adjustment mechanism. The angle of the drainage line of the catching part is adjusted by adjusting the height of the angle adjustment gripper. The right side of the stripping wheel group is fixedly connected to a rotating plate, both ends of the rotating plate are fixedly connected to wire stripping knives, the bottom of the wire stripping knife is fixedly connected to a telescopic column, and the wire stripping knife at the upper end of the rotating plate is fixedly connected to a radial wire stripping tool, and the wire stripping tool at the lower end of the rotating plate is fixedly connected to an axial wire stripping tool. The radial wire stripping tool consists of two semicircular tools, and the axial wire stripping tool consists of two transverse blades; the gear disk of the stripping wheel group drives the rotating plate to rotate 90°.

2. The four-state flying fire-catching intelligent robot according to claim 1 is characterized in that: An electromagnet is fixedly connected above the buckle.

3. The four-state flying fire-catching intelligent robot according to claim 1 is characterized in that: A slot is provided on the outer shell of the wire stripping wheel assembly, and the outer shell of the wire stripping wheel assembly is used as a hanging mechanism.

4. The four-state flying fire-catching intelligent robot according to claim 1 is characterized in that: The routing wheel group consists of a fixed wheel and a movable wheel. The fixed wheel is installed on the upper end of the wheel group arm through a rotating shaft. The movable pulley is connected to the guide rail of the wheel group arm and is connected to a lifting motor. The fixed pulley is connected to a walking drive motor that drives the fixed wheel to rotate.

5. A four-state flying pyrotechnics method, based on the four-state flying pyrotechnics intelligent robot according to claim 1, characterized in that: The ignition robot is hoisted onto the high-voltage line by the flying robot, and then the flying robot is separated from the ignition robot, which includes the following four working states: Walking state: After the ignition robot is sent to the high-voltage wire by the flying robot, the fixed wheel above the robot's routing wheel group is clamped on the high-voltage wire, and the movable wheel below is driven by the motor to move upward in the track and closely contact with the fixed wheel, fixing the high-voltage wire between the two wheels. The fixed wheel drives the ignition robot to move on the high-voltage wire through the internal motor; Gripping state: The ignition robot then grabs the drainage line through the movement of the mechanical arm and the mechanical claw, and grabs the drainage line through two clamping grippers before taking off; Stripping state: After the ignition robot walks in place on the high-voltage line, the stripping wheel group drives the stripping knife through the internal motor gear plate to strip the insulation layer of the high-voltage line. The insulation is cut axially and radially by the radial stripping knife and the axial stripping knife, and then the insulation of the high-voltage line falls off; Wiring status: After stripping, the drainage line is finally brought to the high-voltage line connection point by the mechanical claw, the angle adjustment gripper adjusts the height and angle of the drainage line, and the lifting gripper lifts the drainage line to facilitate the connection between the drainage line and the high-voltage line. Then, the bottom wire clamp is pushed upward by the electric wrench to clamp the drainage line and the high-voltage line. At this time, the two are tightly connected by extrusion, and the high-voltage line completes the connection and drainage operation.

6. The four-state flight ignition method according to claim 5, characterized in that: The flying robot is controlled by an external remote control device to connect it with the fire-making robot, and the flying robot takes off. The distance between the lifting hook and the wire stripping wheel group of the fire-making robot is adjusted by controlling the sensor unit. When the lifting hook is close to the wire stripping wheel group, the lifting hook arm is opened to continue to reduce the distance between the lifting hook arm and the wire stripping wheel group. When the buckle below the lifting hook arm contacts the corresponding slot of the wire stripping wheel group, the gear moves upward in the guide rail, so that the distance between the left and right hooks is reduced, and the left and right hooks are slowly closed. At this time, the buckle will be inserted into the slot, and the lifting hook is pulled upward to tighten inward. At this time, the buckle will be stuck in the slot, and the fire-making robot is connected to the bottom of the flying robot. At the same time, the electromagnet is energized, and the two magnets attract each other to further fix the connection. When disengaging, just turn off the power to the electromagnet, lower the height of the flying robot, release the lifting hook, and the buckle disengages from the slot, so as to achieve rapid disengagement between the two.

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