An overhead wire insulation coating robot

Abstract

The application discloses a self-wire-feeding wire insulation coating robot and relates to the field of bare wire insulation coating equipment, which comprises a rack, a coating mechanism arranged on the rack, an extruding mechanism connected with the coating mechanism and a walking mechanism, a plurality of groups of rotor mechanisms arranged outside the rack, and connecting rods for fixing the rotor mechanisms to the rack; each rotor mechanism comprises a mounting rack and a propeller; a motor is vertically arranged at the center of the mounting rack; the motor is a double-shaft motor; the propeller has a double-layer structure and is fixed to the two output ends of the motor respectively; an arc-shaped protection plate is further arranged around the propeller and fixed to the mounting rack. The rotor mechanisms are arranged outside the rack and protected by the protection plates, so that the complicated preparation work of the previous wire-feeding wire insulation coating robot through a winch is omitted; only after the rotor mechanisms are controlled to fly to a specified height and position, the wire insulation coating robot can be slowly lowered to complete the wire-feeding work, and the work efficiency is greatly improved.

Description

Technical Field

[0001] This invention relates to the field of bare conductor insulation coating equipment, and more particularly to a self-mounting conductor insulation coating robot. Background Technology

[0002] Every year, accidental contact with live bare conductors results in injuries and fatalities, negatively impacting victims and their families, power line maintenance, and social stability. With technological advancements, many companies have made significant progress in bare conductor insulation upgrade projects. Some manufacturers have produced specialized coating robots for applying insulating materials to live bare conductors, replacing manual labor to ensure operational safety.

[0003] The first step in coating bare wires by a coating robot is mounting the robot on the line. Since many of the bare wires to be coated are located at high altitudes, mounting the coating robot is quite challenging. Currently, the common method for mounting the robot is to use a winch belt or winch rope to lift it onto and off the line.

[0004] Using a winch to load and unload the robot requires pre-installing a winch or winch rope on the line before construction. This is a difficult task, as it still requires manual labor to climb to a high place to install the winch rope, or to use a drone to install the winch rope. After installation, the machine climbs onto the line using its winch mechanism, and then climbs off the line again after the coating work is completed. This method of loading and unloading involves a lot of preparation work, the robot's loading speed is slow, and the overall work efficiency is very low. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention aims to provide a self-mounting wire insulation coating robot, solving the problems of long preparation time, slow mounting speed, and low work efficiency associated with existing coating robots that use a winch-based mounting method. The specific technical solution is as follows:

[0006] A self-mounted wire insulation coating robot includes a frame, on which a coating mechanism for spraying coating onto bare wires, an extrusion mechanism connected to the coating mechanism via a pipe, and a walking mechanism for moving on the bare wires are provided. Several sets of rotor mechanisms are provided outside the frame, and the rotor mechanisms are fixed to the frame via connecting rods.

[0007] The rotor mechanism includes a mounting frame and a propeller. A motor is vertically mounted at the center of the mounting frame. The motor is a dual-shaft motor. The propeller has a double-layer structure and is fixed to the two output ends of the motor.

[0008] The propeller is also surrounded by an arc-shaped protective plate, which is fixedly connected to the mounting frame.

[0009] Furthermore, a flight control system is also installed on the frame. The flight control system includes a laser obstacle avoidance system installed on the top of the frame and an autopilot installed inside the frame. The laser obstacle avoidance system is electrically connected to the autopilot to transmit the position signals of obstacles in the environment.

[0010] Since many operations take place at high altitudes, it is difficult for ground operators to accurately control and avoid obstacles in time. By setting up an autopilot and laser obstacle avoidance system, as well as adding lights and cameras, the safety of the drone's flight is ensured. It can be manually operated for precise positioning, or it can be put into autopilot mode to automatically avoid obstacles, giving operators more options.

[0011] Furthermore, the flight control system also includes a remote control receiver and several electronic speed controllers. The remote control receiver is electrically connected to several electronic speed controllers, and each electronic speed controller is electrically connected to a specific motor to adjust the speed of the specific motor.

[0012] Ground staff can remotely control the drone's rotor system to fly, and use an electronic speed controller to control the motor speed to control its ascent and descent, ensuring that the walking mechanism accurately lands on the bare wire to be coated and completes the locking.

[0013] Furthermore, the connecting rod is a hollow carbon fiber tube.

[0014] Made of carbon fiber, which has low density and high strength, it is suitable for high-altitude operations. The hollow part of the carbon fiber tube can carry wires, and the carbon fiber tube protects the wires.

[0015] Furthermore: the coating mechanism includes two nozzles, each of which has an arc-shaped notch facing opposite sides, and both nozzles are connected to the extrusion mechanism through pipes;

[0016] Both nozzles are driven by a drive device to move closer or further apart from each other, and the movement path of at least one nozzle is non-linear. When the two nozzles approach and close, a space is formed between the two notches to accommodate the bare wire.

[0017] Generally, the current method of loading coating robots is mainly winch loading. Winch loading is generally suitable for nozzles to close vertically, that is, after the robot is pulled to the designated position by the winch belt, the two nozzles close vertically to wrap the bare wire and coat it with insulating material. However, in this invention, because a rotor mechanism is used, the drone falls from top to bottom, so it is only suitable for a left-right closing method. If a vertical closing method is used, it will interfere with the bare wire.

[0018] Therefore, in this invention, at least one of the nozzles has a non-linear motion trajectory, such as a broken line or a curved line. Thus, the closing direction of the two nozzles can be vertical, horizontal, or oblique at a certain angle. This allows different motion trajectories to be set according to different online methods to adapt to various online methods.

[0019] Further: the nozzles are an upper nozzle and a lower nozzle, and the driving device includes a first lead screw motor and a second lead screw motor. The first lead screw motor is fixedly mounted on the frame through a first motor frame, and the second lead screw motor is mounted on the second motor frame.

[0020] The upper nozzle is fixedly connected to the first lead screw nut and is driven by the first lead screw motor to reciprocate in the vertical direction.

[0021] The upper nozzle is designed to move relative to the frame, and its height can be adjusted according to the actual descent position of the drone. The lead screw motor drive makes the position adjustment more precise.

[0022] Furthermore: the lower nozzle is fixedly connected to the second lead screw nut via a sliding member, and a guide frame is fixedly connected to the upper nozzle, with the second motor frame hinged to the guide frame; a guide groove is formed inside the guide frame, the guide groove including a vertical section and a ramp section that are interconnected, and the sliding member is slidably disposed in the guide groove.

[0023] The movement trajectory of the lower nozzle is controlled by setting a guide frame. The second motor frame is hinged to the guide frame. Thus, when the second lead screw nut moves, the lower nozzle follows the second lead screw nut in a zigzag motion due to the limitation of the guide frame trajectory. In some other embodiments, the guide groove can also be set to a pseudo-curved shape so as not to interfere with the bare wire, and the upper and lower nozzles can close smoothly.

[0024] Furthermore: the extrusion mechanism includes a horizontally arranged cylinder, one end of which has a discharge port, and an extrusion pusher is provided inside the cylinder, with the extrusion pusher connected to a pusher connector;

[0025] A driving component is provided above the material cylinder, and a stroke groove is provided at the top of the material cylinder. The length direction of the stroke groove is consistent with the axial direction of the material cylinder. The other end of the pusher connector passes through the stroke groove and is connected to the driving component. The driving component drives the extrusion pusher to reciprocate along the axial direction of the material cylinder through the pusher connector.

[0026] In this invention, the driving component is set at the top of the material cylinder, which is different from the previous structure where it is set at one end of the material cylinder. On the one hand, this reduces the space occupied by the extrusion mechanism, and on the other hand, it avoids the robot's center of gravity from changing during the process of the extrusion component driving the extrusion pusher, which would lead to instability in the operation process and affect the coating quality.

[0027] Furthermore: one end of the material cylinder is provided with a material cover, the material outlet is located on the material cover, and a one-way valve is provided at the material outlet.

[0028] Because the extrusion pusher moves back and forth inside the barrel, the air pressure inside the barrel changes continuously. When the material is extruded from the outlet, there is a certain possibility of backflow. Therefore, a one-way valve is installed at the outlet to ensure that the material is stably extruded onto the coating equipment.

[0029] Furthermore: the walking mechanism includes at least two cable guide wheels and two auxiliary wheels. The cable guide wheels are installed inside the cable guide wheel frame and are driven to rotate by the walking motor through the transmission mechanism.

[0030] The cable guide wheel is in the shape of an "I". The cable guide wheel includes a cable guide shaft and baffles at both ends of the cable guide shaft. The auxiliary wheel is hinged to the cable guide wheel frame via a connecting rod. The connecting rod can rotate in a vertical plane, and its hinge axis is parallel to the cable guide shaft.

[0031] The cable guide wheel is equipped with a locking device. When the rotor mechanism lands, the middle of the I-shaped cable guide shaft contacts the bare wire, and the two ends act as limiters. The auxiliary wheel is hinged to the cable guide wheel frame. When the cable is loaded, the connecting rod rotates, and the auxiliary wheel contacts the bare wire to ensure the stability of the movement.

[0032] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0033] In the above-mentioned solution provided by the present invention, by setting a rotor mechanism on the outside of the frame and protecting the rotor mechanism with a protective plate, the cumbersome preparation work of the previous method of launching the coating robot by winch is eliminated. It is only necessary to operate the rotor mechanism to fly to the designated height and position and then slowly descend to complete the online work of the coating robot, which greatly improves the work efficiency. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is a schematic diagram of the overall structure shown in the embodiments of this application;

[0036] Figure 2 This is a schematic diagram of the rack structure shown in the embodiment of this application;

[0037] Figure 3 This is a schematic diagram of the coating mechanism shown in the embodiments of this application;

[0038] Figure 4 This is a schematic diagram illustrating the connection relationship between the guide frame and the sliding member as shown in an embodiment of this application;

[0039] Figure 5 This is a schematic diagram of the nozzle structure shown in the embodiments of this application;

[0040] Figure 6 This is a schematic diagram of the extrusion mechanism shown in the embodiments of this application;

[0041] Figure 7 This is a schematic diagram of the structure of the material cylinder shown in the embodiment of this application;

[0042] Figure 8 This is a schematic diagram of the extrusion mechanism shown in the embodiments of this application, omitting the material cylinder;

[0043] Figure 9 This is a schematic diagram of the walking mechanism shown in the embodiment of this application.

[0044] In the diagram, 1. Rotor mechanism; 10. Connecting rod; 11. Mounting bracket; 12. Motor; 13. Propeller; 14. Protective plate; 2. Coating mechanism; 20. Nozzle; 201. Upper nozzle; 202. Lower nozzle; 203. Notch; 204. Sliding component; 205. Pipe joint; 21. First lead screw motor; 210. First motor frame; 211. First lead screw nut; 22. Second lead screw motor; 220. Second motor frame; 221. Second lead screw nut; 23. Guide frame; 230. Guide groove; 231. 1. Vertical section; 2.3. Inclined section; 3. Extrusion mechanism; 3. Cylinder; 3.10. Stroke groove; 3.2. Extrusion pusher block; 3.20. Pusher connector; 3.3. Material cover; 3.4. One-way valve; 3.5. Card-type rib; 3.6. Rib support rod; 3.7. Lead screw; 3.8. Gear; 3.9. Cylinder interface; 4. Laser obstacle avoidance system; 5. Flight control system; 6. Walking mechanism; 6.1. Cable guide wheel; 6.10. Cable guide shaft; 6.11. Baffle section; 6.2. Auxiliary wheel; 7. Gimbal camera; 8. Lighting system; 9. Frame. Detailed Implementation

[0045] To make the objectives, features, and advantages of this invention more apparent and understandable, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0046] Combination Figure 1 and Figure 2As shown, a self-contained wire insulation coating robot includes a central frame 9. The frame 9 is equipped with a coating mechanism 2, an extrusion mechanism 3, a flight control system 5, and a walking mechanism 6. Several connecting rods 10 are evenly arranged circumferentially around the outside of the frame 9. The connecting rods 10 are preferably made of carbon fiber to meet the high strength requirements of aerial operations. The middle of each connecting rod 10 is hollow to allow the wire to pass through, and the connecting rods 10 also serve to protect the wire. The other end of each connecting rod 10 is connected to a rotor mechanism 1. The rotor mechanism 1 includes a mounting frame 11 connected to the connecting rods 10. A motor 12 is located in the middle of the mounting frame 11. The motor 12 is vertically positioned to drive a propeller 13 to rotate. The propeller 13 is preferably a double-layer propeller. Correspondingly, the motor 12 is a dual-axis motor to ensure stable flight. Furthermore, the use of a double-layer propeller allows the drone to be steered by adjusting the speed of each motor. An arc-shaped protective plate 14 is provided on the side of the propeller 13 away from the frame 9. The protective plate 14 is fixedly connected to the mounting frame 11. Since the robot needs to fly over the bare wire and adjust its position to land slowly when it is going online, the propeller 13 may touch the bare wire during this process, causing damage to the bare wire or even causing the machine to fall. Therefore, an arc-shaped protective plate 14 is provided around the propeller 13 to protect the propeller from touching obstacles such as trees and power lines to prevent accidents.

[0047] The flight control system 5 includes a built-in lithium battery, motor ESC, GPS positioning, magnetic compass, autopilot, and remote control receiver. A gimbal camera 7 is mounted on the top of the frame 9, and a lighting system 8 is installed at the front. Therefore, in this embodiment, the robot can be remotely controlled by a human during flight. In high-altitude environments with many obstacles such as trees, the autopilot function of the flight control system 5 can automatically avoid obstacles, ensuring smooth loading and unloading operations. Specifically, the gimbal camera 7 is mounted on the top of the frame 9, the lighting system 8 is installed in the front lighting slot of the frame 9, and a mounting slot is provided at the bottom of the frame 9, where the walking mechanism 6 is located.

[0048] Combination Figures 2-4As shown, extrusion mechanisms 3 are installed inside the frame 9, preferably two, with the two extrusion mechanisms 3 arranged side by side to save space. A discharge port is opened at the material cover 33 of the extrusion mechanism 3, and the discharge port is connected to the nozzle 20 through a pipe. The two extrusion mechanisms 3 are respectively connected to the upper nozzle 201 and the lower nozzle 202. A first motor frame 210 is fixedly installed on the frame 9. A first lead screw motor 21 is installed inside the first motor frame 210. A first lead screw nut 211 is threadedly connected to the lead screw of the first lead screw motor 21. The upper nozzle 201 is fixedly connected to the first lead screw nut 211 through a connecting bracket and moves back and forth in the vertical direction accordingly. A guide frame 23 is also fixedly installed on the upper nozzle 201. A second motor frame 220 is hinged on the guide frame 23. A second lead screw motor 22 is installed inside the second motor frame 220. A second lead screw nut 221 is threadedly connected to the lead screw of the second lead screw motor 22. A sliding member 204 is fixedly installed on the second lead screw nut 221. A guide groove 230 is opened in the guide frame 23, and the sliding member 204 is slidably installed in the guide groove 230. The path of the guide groove 230 is non-linear and can be an arc, a pseudo-curve, etc. In this embodiment, the guide groove 230 is divided into a vertical section 231 and a ramp section 232 that are connected to each other. Therefore, when the second lead screw nut 221 is driven by the second lead screw motor 22, since the guide frame 23 is hinged to the second motor frame 220, the lower nozzle 202 follows the pseudo-curve movement. Thus, during the closing process of the upper nozzle 201 and the lower nozzle 202, they can bypass the bare wire. Therefore, this setting can simultaneously adapt to the upper and lower closing mode of the hoisting line and the left and right closing mode of the line in this invention, which is achieved by flying and landing through the rotor mechanism 1.

[0049] like Figure 5 As shown, the two nozzles 20 have similar structures and both include a pipe joint 205 for connecting the extrusion mechanism 3. The middle of the two nozzles 20 is hollow and each has an arc-shaped notch 203. When the two nozzles 20 are closed, the two notches fit together and hold the bare wire inside, so that the coating material extruded from the pipe joint 205 is coated on the surface of the bare wire.

[0050] like Figure 6-8As shown, the extrusion mechanism 3 is installed inside the frame 9. It includes a material cylinder 31, a stroke groove 310 at the top of the material cylinder 31, and clip-on ribs 35 at both ends of the material cylinder 31 for fixing the material cylinder 31. The two clip-on ribs 35 are fixed together by several rib support rods 36. At least one of the card-type ribs 35 is hollow, with a motor slot for mounting a motor. Inside, meshing gears 38 are installed, so that the motor drives the lead screw 37 above the material cylinder 31 to rotate through the gears 38. A pusher connector 320 is threaded onto the lead screw 37, and the other end of the pusher connector 320 is connected to an extrusion pusher block 32. The pusher connector 320 passes through the stroke groove 310, and the extrusion pusher block 32 is located inside the material cylinder 31 to push the insulating material inside the material cylinder. In this configuration, the movement of the nut on the lead screw 37 is at the top of the material cylinder 31. Compared with the drive device located at the end of the material cylinder 31, its center of gravity offset is small, and it also saves installation space. The robot runs more smoothly when working at height. In addition, a material cover 33 is provided at one end of the material cylinder 31, and a discharge port is opened on the material cover 33. A material cylinder interface 39 is provided inside the material cylinder 31, and the material cylinder interface 39 is connected to the discharge port. A one-way valve 34 is provided at the discharge port to prevent the material from flowing back due to the increase in air pressure inside the material cylinder 31 when the extrusion push block 32 retracts.

[0051] like Figure 9 As shown, the walking mechanism 6 includes at least two wire guide wheels 61 and two auxiliary wheels 62. The wire guide wheels 61 are installed inside a wire guide wheel frame, which is located inside the frame 9 and is driven to rotate by a walking motor through a transmission mechanism. In this embodiment, the walking motor simultaneously drives the two wire guide wheels 61 to rotate through a gear and belt structure. The wire guide wheels 61 are I-shaped and include a wire guide shaft 610 in the middle and baffle portions 611 at both ends. During walking, the wire guide shaft 610 contacts the bare wire, and the baffle portions 611 cooperate with the locking ring to prevent the robot from falling. The locking ring is specifically a clamp-type structure that is clamped onto the bare wire; a common structural diagram is not shown.

[0052] The auxiliary wheel 62 is connected to the connecting rod and hinged to the cable tray frame (not shown in the figure) via a torsion spring. The connecting rod can rotate in a vertical plane, and its hinge axis is parallel to the cable tray axis 610. When the rotor mechanism 1 slowly lands on the bare conductor, the cable tray falls onto the bare conductor, and the connecting rod rotates, so that the auxiliary wheel 62 is also located on the bare conductor. Due to the action of the torsion spring, it exerts a certain vertical pressure on the bare conductor, thereby making the movement more stable.

[0053] The working principle of this invention is as follows:

[0054] The rotor mechanism 1 drives the frame 9 to fly. The staff can remotely control the rotor mechanism 1 through the remote control. The rotor mechanism 1 can also avoid obstacles on its own through its built-in flight control system 5. When it flies above the bare conductor, the staff can accurately center the machine with the help of the camera to make the walking mechanism 6 land smoothly on the bare conductor and lock it with the locking ring. The walking mechanism 6 can then walk on the bare conductor.

[0055] Meanwhile, the upper nozzle 201 and the lower nozzle 202 move under the drive of the first lead screw motor 21 and the second lead screw motor 22 respectively, adjust their positions and move closer to each other, and gradually close. The two notches 203 are locked on the outside of the bare conductor. The extrusion mechanism 3 extrudes the material, squeezing the insulating material into the nozzle 20 through the pipe joint 205 and coating it on the surface of the bare conductor. The traveling mechanism 6 travels while the coating mechanism 2 sprays.

[0056] After the operation is completed, the locking ring is released, the rotor mechanism 1 flies upward, detaches from the bare wire, and drives the robot back to the ground.

[0057] This invention eliminates the traditional process of hanging a winch belt during online loading, and directly drives the coating robot onto the line through a rotor mechanism, greatly improving loading and unloading efficiency. It can also successfully complete loading and unloading work for bare wires with many surrounding obstacles or high heights, making it suitable for widespread application.

[0058] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A robot for self-coating wire insulation, comprising a frame (9), characterized in that: The frame (9) is provided with a coating mechanism (2) for spraying bare wires, an extrusion mechanism (3) connected to the coating mechanism (2) via a pipe, and a walking mechanism (6) for moving on the bare wires. Several sets of rotor mechanisms (1) are provided outside the frame (9). The rotor mechanisms (1) are fixed to the frame (9) via connecting rods (10). The coating mechanism (2) includes two nozzles (20), and each of the two nozzles (20) has an arc-shaped notch (203) facing the opposite side. The nozzles (20) are connected to the extrusion mechanism (3) through pipes. The two nozzles (20) are driven by a drive device to move closer or further apart from each other, wherein the movement path of at least one nozzle (20) is non-linear. When the two nozzles (20) move closer and close together, a space for accommodating the bare wire to be coated is formed between the two notches (203). The nozzles (20) are an upper nozzle (201) and a lower nozzle (202). The driving device includes a first lead screw motor (21) and a second lead screw motor (22). The first lead screw motor (21) is fixedly installed on the frame (9) through a first motor frame (210), and the second lead screw motor (22) is installed on the second motor frame (220). The upper nozzle (201) is fixedly connected to the first lead screw nut (211) and driven by the first lead screw motor (21) to reciprocate in the vertical direction; The lower nozzle (202) is fixedly connected to the second lead screw nut (221) via a sliding member (204). A guide frame (23) is fixedly connected to the upper nozzle (201). The second motor frame (220) is hinged to the guide frame (23). A guide groove (230) is opened in the guide frame (23). The guide groove (230) includes a vertical section (231) and a ramp section (232) that are connected to each other. The sliding member (204) is slidably disposed in the guide groove (230). The rotor mechanism (1) includes a mounting frame (11) and a propeller (13). A motor (12) is vertically arranged in the center of the mounting frame (11). The motor (12) is a dual-shaft motor. The propeller (13) has a double-layer structure and is fixed to the two output ends of the motor (12). The propeller (13) is also provided with an arc-shaped protective plate (14) around its periphery, and the protective plate (14) is fixedly connected to the mounting frame (11).

2. The self-contained wire insulation coating robot as described in claim 1, characterized in that: The frame (9) is also equipped with a flight control system. The flight control system (5) includes a laser obstacle avoidance system (4) installed on the top of the frame (9) and an autopilot installed inside the frame (9). The laser obstacle avoidance system (4) is electrically connected to the autopilot to transmit the position signals of obstacles in the environment.

3. The self-contained wire insulation coating robot as described in claim 2, characterized in that: The flight control system (5) also includes a remote control receiver and several electronic speed controllers. The remote control receiver is electrically connected to several electronic speed controllers, and each electronic speed controller is electrically connected to a motor (12) to adjust the speed of the motor (12).

4. The self-contained wire insulation coating robot as described in claim 1, characterized in that: The connecting rod (10) is a hollow carbon fiber tube.

5. The self-contained wire insulation coating robot as described in any one of claims 1-4, characterized in that: The extrusion mechanism (3) includes a horizontally arranged cylinder (31), one end of which is provided with a discharge port, and an extrusion pusher (32) is provided inside the cylinder (31), and the extrusion pusher (32) is connected to a pusher connector (320). A driving component is provided above the material cylinder (31), and a stroke groove (310) is provided on the top of the material cylinder (31). The length direction of the stroke groove (310) is consistent with the axial direction of the material cylinder (31). The other end of the pusher connector (320) passes through the stroke groove (310) and is connected to the driving component. The driving component drives the extrusion pusher block (32) to reciprocate along the axial direction of the material cylinder (31) through the pusher connector (320).

6. The self-contained wire insulation coating robot as described in claim 5, characterized in that: One end of the material cylinder (31) is provided with a material cover (33), the material outlet is located on the material cover (33), and a one-way valve (34) is provided at the material outlet.

7. The self-contained wire insulation coating robot as described in any one of claims 1-4, characterized in that: The walking mechanism (6) includes at least two cable guide wheels (61) and two auxiliary wheels (62). The cable guide wheels (61) are installed in the cable guide wheel frame and are driven to rotate by the walking motor through the transmission mechanism. The cable guide wheel (61) is in the shape of an "I". The cable guide wheel (61) includes a cable guide shaft (610) and baffles (611) at both ends of the cable guide shaft (610). The auxiliary wheel (62) is hinged to the cable guide wheel frame through a connecting rod. The connecting rod can rotate in a vertical plane, and its hinge axis is parallel to the cable guide shaft (610).

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