A detachable primary-secondary upper line coating robot

Abstract

The application discloses a detachable primary-secondary wire coating robot, which comprises a wire device and a coating device. The wire device comprises a rack, a tray, a position adjusting assembly, a wire penetrating assembly and a sensing assembly. The wire penetrating assembly comprises a rope climber and a traction rope. The traction rope is used for being hung on a guide wire. The tray is movably arranged on the rack. The position adjusting assembly is arranged on the rack and connected with the tray, and is used for driving the tray to rotate along a horizontal plane, move along the guide wire in a radial direction and turn over along a vertical plane. The rope climber is arranged on the rack and connected with the traction rope, and is used for driving the rack to ascend and descend along the traction rope. The sensing assembly is arranged on the tray and is used for sensing distance information of the tray to the guide wire and sensing inclination angle information of the guide wire. The coating device is arranged on the tray. The coating device is provided with a hanging wheel. The wire penetrating assembly and the position adjusting assembly are used for controlling the tray to move to be parallel to the guide wire according to the distance information and the inclination angle information, and making the hanging wheel hung on the guide wire.

Description

Technical Field

[0001] This application relates to the field of coating robot technology, and more particularly to a detachable mother-daughter online coating robot. Background Technology

[0002] Exposed overhead power lines, when passing through densely populated areas, forests, fishponds, or other similar locations, are prone to causing electric shocks, short circuits, and power outages, resulting in personal injury and property damage, and affecting the safe operation of the lines. To ensure the safe operation of these lines, an insulating layer needs to be sprayed onto the surface of the bare conductors to prevent power outages.

[0003] A common coating method is to use an insulation coating robot to apply insulation material to bare overhead conductors on-site. The coating robot consists of a spraying mechanism and an mounting device; the spraying mechanism is used to spray the conductors with insulation material; the mounting device is used to attach the spraying mechanism to the conductors.

[0004] The existing coating robot's online device and spraying mechanism are generally integrated into one unit, which makes the robot's overall size and weight large. For lines with small load-bearing capacity or loose installation, the problem of large sag and broken wires is prone to occur. Summary of the Invention

[0005] In view of this, the purpose of this application is to provide a detachable mother-daughter coating robot to solve the problem of the large overall size and weight of existing coating robots.

[0006] To achieve the above technical objectives, this application provides a detachable mother-daughter coating robot, comprising: a coating device and a coating device;

[0007] The online device includes: a frame, a tray, a positioning component, a wiring component, and a sensing component;

[0008] The threading assembly includes a rope climber and a traction rope;

[0009] The traction rope is used to attach to the conductor;

[0010] The tray is movably mounted on the frame;

[0011] The adjustment component is mounted on the frame and connected to the tray, and is used to drive the tray to rotate horizontally, move radially along the guide wire, and flip vertically.

[0012] The rope climber is mounted on the frame and connected to the traction rope, and is used to drive the frame to move up and down along the traction rope;

[0013] The sensing component is disposed on the tray and is used to sense the distance information between the tray and the conductor and the tilt angle information of the conductor;

[0014] The coating device is disposed on the tray;

[0015] The coating device is equipped with a hanging wheel;

[0016] The threading assembly and the positioning assembly are used to control the tray to move until the tray is parallel to the conductor and the hooking wheel is hooked onto the conductor, based on the distance information and the tilt angle information.

[0017] Furthermore, the threading assembly comprises two sets, which are spaced apart on the frame along the axial direction of the conductor;

[0018] The tray is located between the two sets of the threading assemblies;

[0019] The threading assembly includes two of the rope climbers;

[0020] The traction rope is attached to the conductor, and its two ends pass through the two rope climbers respectively.

[0021] Furthermore, the rope climber includes: a rope climbing motor, a rotating reel, and a mounting plate;

[0022] The mounting plate is fixed to the frame;

[0023] The rotating reel is rotatably mounted on the mounting plate;

[0024] The rope-climbing motor is mounted on the mounting plate and is connected to the rotating reel for driving the rotating reel to rotate.

[0025] The traction rope is wound around the spool.

[0026] Furthermore, it also includes a threading socket;

[0027] The threading bracket is fixed to the mounting plate;

[0028] The cable threading socket is provided with a cable inlet and a cable outlet;

[0029] After the end of the traction rope passes through the inlet, it wraps around the spool once and exits through the outlet.

[0030] Furthermore, the rope climber also includes a pawl;

[0031] The spool is provided with a groove for the traction rope to pass through;

[0032] The groove is provided with a protrusion;

[0033] The protrusion is tilted to make the rotating wheel a ratchet;

[0034] The pawl is movably mounted on the mounting plate, and when it abuts against the protrusion, it forms an anti-reverse structure with the rotating wheel.

[0035] Furthermore, the positioning assembly includes: a lateral movement mechanism, a flipping mechanism, and a rotating mechanism;

[0036] The lateral movement mechanism includes: a base, a lateral movement motor, and a lead screw;

[0037] The base is slidably mounted on the frame along the radial direction of the conductor;

[0038] The lead screw is rotatably mounted on the frame and is engaged with the base;

[0039] The transverse motor is mounted on the frame and is used to drive the lead screw to rotate, thereby causing the base to slide.

[0040] The tilting mechanism includes: a chassis and a tilting drive;

[0041] The chassis can be flipped and connected to the base along the vertical plane;

[0042] The flip drive is connected to the frame and its output is connected to the chassis, used to drive the chassis to flip.

[0043] The rotating mechanism includes: a rotary motor;

[0044] The tray is rotatably mounted on the chassis;

[0045] The rotary motor is mounted on the frame and its output end is connected to the tray, which is used to drive the tray to rotate.

[0046] Furthermore, the lateral movement mechanism comprises two parts;

[0047] One end of the chassis is hinged to the base of the transverse mechanism;

[0048] The flipping drive is mounted on the base of another of the lateral movement mechanisms;

[0049] The other end of the chassis is connected to the output of the flip drive.

[0050] Furthermore, the sensing component includes an image sensor and a position sensor;

[0051] The positioning sensor is mounted on the frame and is used to sense the tilt angle information of the conductor.

[0052] The image sensor is mounted on the tray and is used to sense the distance information between the tray and the conductor.

[0053] Furthermore, the tray is provided with a detachable locking element;

[0054] The locking element is used to lock the coating device after it has been placed on the tray.

[0055] Furthermore, the coating device is equipped with a wire clamp;

[0056] The wire clamp is connected to the hook wheel, and the wire clamp is provided with a clamping cavity for clamping the wire, and the size of the clamping cavity can be controlled by the wire clamp.

[0057] As can be seen from the above technical solutions, this application provides a detachable mother-daughter coating robot, including: a loading device and a coating device; the loading device includes: a frame, a tray, an adjustment component, a threading component, and a sensing component; the threading component includes a rope climber and a traction rope; the traction rope is used to attach to the conductor; the tray is movably mounted on the frame; the adjustment component is mounted on the frame and connected to the tray, used to drive the tray to rotate horizontally, move radially along the conductor, and flip vertically; the rope climber is mounted on the frame and connected to the traction rope, used to drive the frame to rise and fall along the traction rope; the sensing component is mounted on the tray, used to sense the distance information from the tray to the conductor and the tilt angle information of the conductor; the coating device is mounted on the tray; the coating device is provided with a hooking wheel; the threading component and the adjustment component are used to control the tray to move until the tray is parallel to the conductor and the hooking wheel is attached to the conductor according to the distance information and the tilt angle information.

[0058] The coating robot provided by this solution can attach the coating device to the wire via an online device, and then separate the online device from the coating device. This can effectively reduce the volume and weight of the structure on the wire, solving the problem of the large overall volume and weight of existing coating robots. Attached Figure Description

[0059] To more clearly illustrate the technical solutions in the embodiments of this application 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 this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0060] Figure 1This is a schematic diagram of the overall structure of a detachable mother-daughter online coating robot provided in an embodiment of this application;

[0061] Figure 2 Enlarged view showing the disassembly of the rope climber of a detachable mother-daughter coating robot provided in this application embodiment;

[0062] Figure 3 A schematic diagram of the positioning component of a detachable mother-daughter online coating robot provided in an embodiment of this application;

[0063] Figure 4 This is a schematic diagram of the bottom of a tray of a detachable mother-daughter online coating robot provided in an embodiment of this application. Detailed Implementation

[0064] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Based on the embodiments in this application specification, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection claimed in this application.

[0065] In the description of the embodiments of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0066] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a replaceable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application according to the specific circumstances.

[0067] Please see Figure 1This application provides a detachable mother-daughter coating robot, comprising: a loading device 100 and a coating device 200; the loading device 100 includes: a frame 110, a tray 120, an adjustment component 130, a threading component 150, and a sensing component 140; the threading component 150 includes a rope climber 152 and a traction rope 151; the traction rope 151 is used to attach to the conductor 300; the tray 120 is movably mounted on the frame 110; the adjustment component 130 is mounted on the frame 110 and connected to the tray 120, used to drive the tray 120 to rotate horizontally, move radially along the conductor 300, and move vertically. The mechanism is as follows: The frame is flipped; the rope climber 152 is mounted on the frame 110 and connected to the traction rope 151, used to drive the frame 110 to rise and fall along the traction rope 151; the sensing component 140 is mounted on the tray 120, used to sense the distance information between the tray 120 and the wire 300 and the tilt angle information of the wire 300; the coating device 200 is mounted on the tray 120; the coating device 200 is equipped with a hooking wheel 210; the threading component 150 and the adjusting component 130 are used to control the tray 120 to move until the tray 120 is parallel to the wire 300 and the hooking wheel 210 is hooked onto the wire 300 according to the distance information and tilt angle information.

[0068] Specifically, the traction rope 151 can be mounted on a tool such as a drone and attached to the wire 300. Then, the traction rope 151 can be fixed at one end and passed through the rope climber 152 at the other end, so that the rope climber 152 can move along the traction rope 151.

[0069] In this embodiment, the hanging wheel 210 can be mounted on an inverted L-shaped bracket. Based on the tilt angle information sensed by the sensing component 140, the positioning component 130 can control the tray 120 to flip vertically and rotate horizontally until the tray 120 is parallel to the wire 300, and so that the hanging wheel 210 is located below the side of the wire 300.

[0070] Then, based on the distance information, the rope climber 151 drives the frame 110 and the tray 120 to rise along the traction rope 151 until the hook-up wheel 210 is above the conductor 300; then the positioning component 130 drives the tray 120 to move horizontally until the hook-up wheel 210 is directly above the conductor 300, and the rope climber 151 drives the frame 110 and the tray 120 to descend, so that the hook-up wheel 210 can be hooked onto the conductor 300, thus completing the connection between the coating device 200 and the conductor 300.

[0071] After the coating device 200 is attached, the rope climber 152 drives the frame 110 and the tray 120 to gradually descend to the bottom and untie the traction rope, so that the upper wire device 100 can be separated from the wire 300, thus avoiding the burden on the wire 300 caused by both the upper wire device 100 and the coating device 200 being attached to the wire 300.

[0072] In one implementation, the sensing component 140 includes an image sensor 141 and a position sensor 142; the position sensor 142 is disposed on the frame 110 and is used to control the climbing rope motor to stop after the machine reaches the position, and is used to sense the tilt angle information of the guide wire 300; the image sensor 141 is disposed on the tray 120 and is used to sense the distance information between the tray 120 and the guide wire 300.

[0073] The positioning sensor 142 can be arched and located below the guide wire 300. Two positioning sensors 142 may be provided, spaced apart along the front-back direction of the guide wire 300. When the rope climber 152 raises the frame 110 and tray 120 until the positioning sensor 142 contacts the guide wire 300, the positioning sensor 142 will be compressed. The degree of compression of the two positioning sensors 142 is transmitted to the central control unit, which can then use this information to send a signal to stop the rope climber motor and determine the tilt angle of the guide wire 300. The tilt angle information of the guide wire 300 includes the angle between the guide wire 300 and the vertical plane and the angle between the guide wire 300 and the horizontal plane.

[0074] The image sensor 141 can calculate the difference information between the position of the wire 300 and itself through the image recognition system, and transmit the difference information to the central control unit. The central control unit calculates the distance information between the tray 120 and the wire 300. With the tilt angle information, the central control unit controls the adjustment component 130 to drive the tray 120 to flip, rotate and move laterally until the coating device 200 is attached to the wire 300.

[0075] The coating device 200 is equipped with multiple hanging wheels 210 arranged in a straight line; when the tray 120 is parallel to the wire 300, the straight line formed by the multiple hanging wheels 210 is parallel to the wire 300.

[0076] In one embodiment, see Figure 1 and Figure 2 The wire threading assembly 150 includes two sets, which are spaced apart on the frame 110 along the axial direction of the conductor 300; the tray 120 is located between the two sets of wire threading assemblies 150; the wire threading assembly 150 includes two rope climbers 152; the traction rope 151 is attached to the conductor 300, and the two ends of the traction rope 151 pass through the two rope climbers 152 respectively.

[0077] Specifically, when the traction rope 151 is attached to the wire 300, both ends of the traction rope 151 pass through the two rope climbers 152 respectively. When the frame 110 is driven to climb, the rope climbers 152 at both ends of the traction rope 151 start and stop synchronously, so that the frame 110 can rise smoothly.

[0078] For a more specific embodiment, please refer to Figure 2The rope climber 152 includes: a rope climbing motor 153, a rotating reel 154, and a mounting plate 155; the mounting plate 155 is fixed on the frame 110; the rotating reel 154 is rotatably mounted on the mounting plate 155; the rope climbing motor 153 is mounted on the mounting plate 155 and is connected to the rotating reel 154 for driving the rotating reel 154 to rotate; the traction rope 151 is wound around the rotating reel 154.

[0079] When the rotating reel 154 rotates, it can drive the traction rope 151 to move along the rotation direction of the rotating reel 154, thereby driving the frame 110 to move along the traction rope 151 through the reaction force.

[0080] The rope-climbing motor 153 can be connected to the rotating reel 154 via a reducer; the rotating reel 154 can be covered with a protective cover 156.

[0081] Furthermore, it also includes a wire threading base 157; the wire threading base 157 is fixed on the mounting plate 155; the wire threading base 157 is provided with an inlet and an outlet; the end of the traction rope 151 passes through the inlet, wraps around the spool 154 once, and exits through the outlet.

[0082] By using the cable threader 157, the traction rope 151 can be prevented from getting out of the reel 154 after it has been wrapped around the reel 154 multiple times, which would make it difficult for the reel 154 to rotate in reverse. This also prevents the frame 110 from being unable to descend.

[0083] In one embodiment, the rope climber 152 further includes a pawl 158; the rotating reel 154 is provided with a groove 1541 for the traction rope 151 to pass through; a protrusion 1542 is provided in the groove 1541; the protrusion 1542 is inclined so that the rotating reel 154 becomes a ratchet; the pawl 158 is movably provided on the mounting plate 155, and when it abuts against the protrusion 1542, it forms an anti-reverse structure with the rotating reel 154.

[0084] When the pawl 158 abuts against the protrusion 1542, it forms an anti-reverse structure with the spool 154, which can prevent the spool 154 from reversing during the rise of the frame 110 and thus prevent the frame 110 from tilting.

[0085] Meanwhile, the protrusion 1542 can increase the friction between the spool 154 and the traction rope 151.

[0086] In another embodiment, please refer to Figures 1 to 4The adjustment assembly 130 includes: a horizontal movement mechanism 131, a flipping mechanism 132, and a rotating mechanism 133; the horizontal movement mechanism 131 includes: a base 1311, a horizontal movement motor 1312, and a lead screw 1313; the base 1311 is slidably mounted on the frame 110 along the radial direction of the guide wire 300; the lead screw 1313 is rotatably mounted on the frame 110 and engages with the base 1311; the horizontal movement motor 1312 is mounted on the frame 110 and is used to drive the lead screw 1313 to rotate, thereby driving the base 1311 to slide; the flipping mechanism 132... Mechanism 132 includes: a chassis 1321 and a flip drive 1322; the chassis 1321 is rotatably connected to a base 1311 along a vertical plane; the flip drive 1322 is connected to a frame 110 and its output end is connected to the chassis 1321 for driving the chassis 1321 to flip; the rotating mechanism 133 includes: a rotary motor 1331; a tray 120 is rotatably mounted on the chassis 1321; the rotary motor 1331 is mounted on the frame 110 and its output end is connected to the tray 120 for driving the tray 120 to rotate.

[0087] Specifically, the transverse motor 1312 can be connected to the lead screw 1313 via a belt pulley; when the transverse motor 1312 is started, it can drive the base 1311 to move radially along the guide wire 300.

[0088] The flip drive 1322 can be a cylinder, which drives the tray 120 to flip by pushing the chassis 1321 to flip.

[0089] A disc 122 can be fixed to the bottom of the tray 120. A rotary motor 1331 is connected to the disc 122 via a pulley. When the rotary motor 1331 is started, it can drive the disc 122 to rotate and adjust the position of the tray 120 on the horizontal plane.

[0090] Furthermore, the transverse mechanism 131 includes two: one end of the chassis 1321 is hinged to the base 1311 in one transverse mechanism 131; the flip driver 1322 is disposed on the base 1311 in the other transverse mechanism 131; the other end of the chassis 1321 is connected to the output end of the flip driver 1322.

[0091] Furthermore, a removable locking element 121 is provided on the tray 120; the locking element 121 is used to lock the coating device 200 after the coating device 200 is placed on the tray 120.

[0092] The locking element 121 is used to lock and fix the coating device 200 to prevent the coating device 200 from shaking during the flipping or rotation of the tray 120.

[0093] In application, the coating device 200 is also equipped with a nozzle holder 220 for spraying; the nozzle holder 220 is used to set the nozzle to ensure that the sprayed insulation layer is concentric with the wire 300; when the hook wheel 210 hooks the wire 300, the nozzle holder 20 can also be hooked on the wire 300 to further prevent the coating device 200 from falling off the wire.

[0094] In another embodiment, the coating device 200 is provided with a wire clamp (not shown); the wire clamp is connected to the hook wheel 210, and the wire clamp 220 is provided with a clamping cavity for clamping the wire 300, and the wire clamp can control the size of the clamping cavity.

[0095] The wire clamp can tighten the clamping cavity after the wire 300 is attached to the hook wheel 210, preventing the coating device 200 from falling off the wire 300.

[0096] The above are merely preferred embodiments of this application and are not intended to limit the present invention. Although this application has been described in detail with reference to examples, those skilled in the art can still modify the technical solutions described in the foregoing examples or make equivalent substitutions for some of the technical features. However, any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A detachable mother-daughter online coating robot, characterized in that, include: Online device (100) and coating device (200); The online device (100) includes: a frame (110), a tray (120), an adjustment component (130), a wire threading component (150), and a sensing component (140). The threading assembly (150) includes a rope climber (152) and a traction rope (151). The traction rope (151) is used to attach to the conductor (300); The tray (120) is movably mounted on the frame (110); The adjustment component (130) is disposed on the frame (110) and connected to the tray (120), and is used to drive the tray (120) to rotate along the horizontal plane, move radially along the guide wire (300) and flip along the vertical plane; The rope climber (152) is mounted on the frame (110) and connected to the traction rope (151) to drive the frame (110) to rise and fall along the traction rope (151); The sensing component (140) is disposed on the tray (120) and is used to sense the distance information from the tray (120) to the wire (300) and to sense the tilt angle information of the wire (300); The coating device (200) is disposed on the tray (120); The coating device (200) is equipped with a hanging wheel (210); The threading assembly (150) and the positioning assembly (130) are used to control the tray (120) to move to a position parallel to the conductor (300) according to the distance information and the tilt angle information, so that the hooking wheel (210) is hooked onto the conductor (300); The sensing component (140) includes an image sensor (141) and a position sensor (142). The position sensor (142) is disposed on the frame (110) and is used to sense the tilt angle information of the conductor (300); The image sensor (141) is disposed on the tray (120) and is used to sense the distance information between the tray (120) and the wire (300); The position sensor (142) includes two sensors and is spaced apart along the front-back direction of the conductor (300); When the rope climber (152) drives the frame (110) and the tray (120) to rise until the position sensor (142) abuts the conductor (300), the two position sensors (142) are compressed, and the tilt angle information of the conductor (300) is determined according to the degree of compression of the two position sensors (142).

2. The detachable mother-daughter online coating robot according to claim 1, characterized in that, The threading assembly (150) includes two sets, which are spaced apart on the frame (110) along the axial direction of the conductor (300); The tray (120) is located between the two sets of the threading assemblies (150); The threading assembly (150) includes two of the rope climbers (152); The traction rope (151) is attached to the conductor (300) after it is attached, and the two ends of the traction rope (151) pass through the two rope climbers (152) respectively.

3. The detachable mother-daughter online coating robot according to claim 1 or 2, characterized in that, The rope climber (152) includes: a rope climbing motor (153), a rotating reel (154), and a mounting plate (155); The mounting plate (155) is fixed to the frame (110); The rotating reel (154) is rotatably mounted on the mounting plate (155); The rope-climbing motor (153) is mounted on the mounting plate (155) and is connected to the rotating wheel (154) for driving the rotating wheel (154) to rotate. The traction rope (151) is wound around the spool (154).

4. The detachable mother-daughter online coating robot according to claim 3, characterized in that, It also includes a threading socket (157); The threading socket (157) is fixed to the mounting plate (155); The cable threading socket (157) is provided with a cable inlet and a cable outlet; After the end of the traction rope (151) passes through the inlet, it wraps around the spool (154) once and exits through the outlet.

5. The detachable mother-daughter online coating robot according to claim 3, characterized in that, The rope climber (152) also includes a pawl (158); The spool (154) is provided with a groove (1541) through which the traction rope (151) passes. The groove (1541) is provided with a protrusion (1542). The protrusion (1542) is inclined so that the spool (154) becomes a ratchet; The pawl (158) is movably mounted on the mounting plate (155), and when it abuts against the protrusion (1542), it forms an anti-reverse structure with the rotating wheel (154).

6. The detachable mother-daughter online coating robot according to claim 1, characterized in that, The adjustment component (130) includes: a horizontal movement mechanism (131), a flipping mechanism (132), and a rotating mechanism (133). The transverse mechanism (131) includes: a base (1311), a transverse motor (1312), and a lead screw (1313). The base (1311) is slidably disposed on the frame (110) along the radial direction of the guide wire (300); The lead screw (1313) is rotatably mounted on the frame (110) and is engaged with the base (1311). The transverse motor (1312) is mounted on the frame (110) and is used to drive the lead screw (1313) to rotate, thereby driving the base (1311) to slide. The flipping mechanism (132) includes: a chassis (1321) and a flipping drive (1322). The chassis (1321) is rotatably connected to the base (1311) along the vertical plane. The flip drive (1322) is connected to the frame (110) and its output end is connected to the chassis (1321) to drive the chassis (1321) to flip. The rotating mechanism (133) includes: a rotary motor (1331); The tray (120) is rotatably mounted on the chassis (1321); The rotary motor (1331) is mounted on the frame (110) and its output end is connected to the tray (120) to drive the tray (120) to rotate.

7. The detachable mother-daughter online coating robot according to claim 6, characterized in that, The lateral movement mechanism (131) comprises two; One end of the chassis (1321) is hinged to the base (1311) in the transverse mechanism (131). The flip drive (1322) is mounted on the base (1311) in another of the transverse mechanisms (131); The other end of the chassis (1321) is connected to the output of the flip drive (1322).

8. The detachable mother-daughter online coating robot according to claim 1, characterized in that, The tray (120) is provided with a detachable locking element (121). The locking element (121) is used to lock the coating device (200) after the coating device (200) is placed on the tray (120).

9. The detachable mother-daughter online coating robot according to claim 1, characterized in that, The coating device (200) is equipped with a wire clamp; The wire clamp is connected to the hook wheel (210), and the wire clamp is provided with a clamping cavity for clamping the wire (300), and the wire clamp is capable of controlling the size of the clamping cavity.

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