Electrical wiring robot

Abstract

The invention relates to the technical field of wiring robots, and discloses an electrical wiring robot. Comprising a self-walking trolley and further comprises a multi-section mechanical arm assembly and a winding frame which are both installed on the self-walking trolley, an execution arm and a winding roller are installed at the end of the multi-section mechanical arm assembly, the multi-section mechanical arm assembly is rotationally connected to the winding frame and driven by a first motor, and a power distribution clamping head and a self-winding-displacement assembly are installed on the winding roller. A storage battery electrically connected with the power distribution clamping head is installed on the winding frame, a cable electrically connected with the power distribution clamping head is wound on the winding roller, and the detection assembly is installed on the execution arm and conducts electric leakage, visual inspection and ultrasonic flaw detection on the cable. During working, on one hand, multi-angle and multi-space flexible wiring can be achieved, on the other hand, during wiring, rapid moving-out of remaining cables can be completed, and on-line pre-cleaning of the cables and on-line electric leakage, visual and ultrasonic flaw detection can be achieved during use.

Description

Technical Field

[0001] The invention relates to the technical field of wiring robots, in particular to an electrical wiring robot. Background Art

[0002] A cable is a device for transmitting electrical energy or signals. It is usually a rope-like cable made up of several or several groups of wires twisted together. Each group of wires is insulated from each other and are often twisted around a center wire. The entire outside is covered with a highly insulating covering. The cable has the characteristics of being powered inside and insulated outside. When laying the cable, a wiring robot is required.

[0003] In the prior art, a patent document with publication number CN113889897B discloses an intelligent wiring robot based on machine vision technology and a working method thereof, comprising a workbench, a forward and backward moving mechanism, a left and right moving mechanism, an up and down moving mechanism, a wire transmission mechanism, a wire stripping mechanism, a wiring mechanism and a visual camera. A bracket is provided at the bottom of the workbench, and a positioning slide groove is provided at the top of the workbench. The above-mentioned robot improves the degree of automation of production and avoids erroneous actions of manual operation. However, on the one hand, the above-mentioned robot is not convenient for realizing flexible wiring at multiple angles and multiple spaces. On the other hand, it is not convenient to quickly remove the remaining cables during wiring. Moreover, when the existing robot is used, it is not convenient to realize online pre-cleaning of cables and online leakage, visual and ultrasonic flaw detection. Based on this, the present invention provides an electrical wiring robot to solve the technical problems raised in the above-mentioned background technology. Summary of the invention

[0004] The purpose of the present invention is to provide an electrical wiring robot, which solves the problem that the existing wiring robots mentioned in the background technology are not convenient for realizing flexible wiring at multiple angles and multiple spaces, and are not convenient for quickly removing the remaining cables during wiring. In addition, when the existing robots are used, it is not convenient to realize online pre-cleaning of cables and online leakage, visual and ultrasonic flaw detection. In order to solve the above technical problems, the present invention provides the following technical solutions: an electrical wiring robot, including a self-propelled trolley, and also including:

[0005] The multi-section mechanical arm assembly and the roll rack are both installed on a self-propelled trolley, and an actuator arm is installed at the end of the multi-section mechanical arm assembly;

[0006] A winding roller is rotatably connected to the winding frame and driven by a first motor, the winding roller is respectively equipped with a cloth-electricity clamp and a self-arranging cable assembly, the winding frame is equipped with a battery electrically connected to the cloth-electricity clamp, and the winding roller is wound with a cable electrically connected to the cloth-electricity clamp;

[0007] The detection component is installed on the actuator arm and performs leakage, visual and ultrasonic flaw detection on the cable;

[0008] Wire feeding components, cable clamping and directional conveying

[0009] Cleaning module, for cleaning the outer surface of the cable;

[0010] Apply glue to fix the components and apply glue to the cables periodically.

[0011] Preferably, the multi-section robotic arm assembly includes a rotating platform, an electric rotator is installed between the rotating platform and the self-propelled trolley, a first robotic arm is hinged on the rotating platform, a second robotic arm is hinged at the front end of the first robotic arm, the front end of the second robotic arm is hinged to the actuator arm, a group of arm adjustment push rods are hinged between the first robotic arm and the rotating platform, between the second robotic arm and the first robotic arm, and between the actuator arm and the second robotic arm, a central control host is installed on the self-propelled trolley, and a cable ring that cooperates with the cable is fixedly installed on the second robotic arm.

[0012] Preferably, the self-wire assembly includes an air pump fixed to the back of the winding frame, an air cavity opened in the winding roller and a linear transmission module installed on the winding frame, the port of the air pump is rotatably connected to the air cavity through an air duct, the air duct is equipped with an air pressure probe electrically connected to the central control host, a group of clamping bags distributed in a circular array are installed on the winding roller, the inner cavity of each clamping bag is connected to the air cavity, the linear transmission module is transmission-connected to the wire arranging frame, the wire arranging frame is slidably connected to the winding frame, and the wire arranging frame is rotatably connected to a material unloading push plate.

[0013] Preferably, the self-arranging cable assembly further comprises a conductive cable installed at the axis position of the winding roller, and the electrical card head is electrically connected to the battery via the conductive cable.

[0014] Preferably, the wire feeding assembly includes two wire feeding clamping wheels rotatably connected to the actuator arm, a clamping gap for clamping the cable is fixedly arranged between the two wire feeding clamping wheels, linkage gears are fixedly installed on the two wire feeding clamping wheels, the two linkage gears are meshed with each other, a second motor is installed on the side of the actuator arm, the output shaft end of the second motor is fixedly connected to one of the wire feeding clamping wheels, a belt is transmission-connected to one of the wire feeding clamping wheels, two wire laying wheels and a wire guide wheel are rotatably connected between the inner surfaces of the actuator arm, and a threading gap for clamping the cable is fixedly arranged between the two wire laying wheels.

[0015] Preferably, the brush cleaning module includes a brush cylinder and a negative pressure cylinder rotatably connected to the actuator arm, the inner wall of the brush cylinder is rotatably connected to a pump shaft driven by a belt, a group of negative pressure blades distributed in a circular array are installed on the pump shaft and at a position corresponding to the inner side of the negative pressure cylinder, a negative pressure ring cavity is fixedly opened inside the brush cylinder, a plurality of groups of regularly distributed dust suction holes connected to the negative pressure ring cavity are opened on the inner wall of the brush cylinder, a spiral brush sheet is fixedly installed on the inner wall of the brush cylinder, the inner wall of the spiral brush sheet is in contact with the cable, a dust suction ring tube is rotatably connected to the brush cylinder, the inner cavity of the dust suction ring tube is rotatably connected to the negative pressure ring cavity, the dust suction ring tube is connected to the negative pressure cylinder through a connecting pipe, the dust outlet port of the negative pressure cylinder is connected to a dust collecting bag, and the brush cylinder is driven by a belt.

[0016] Preferably, the detection component includes a rotating ring rotatably connected to the actuator arm, the rotation axis of the rotating ring is in the same straight line with the rotation axis of the brush cylinder, the rotating ring is driven by a belt, two symmetrically arranged support plates are installed on the rotating ring, and the inner walls of the two support plates are respectively installed with a visual detection probe and an ultrasonic flaw detector, the axes of the visual detection probe and the ultrasonic flaw detector are both perpendicular to the axis of the rotating ring, and the data ends of the visual detection probe and the ultrasonic flaw detector are connected to the data of the central control host through wireless data transmission.

[0017] Preferably, the inner wall of the actuator arm is rotatably connected to two differential shafts, both of the differential shafts are connected to the belt drive, differential bevel gears are installed on the two differential shafts, driven bevel gears are fixedly installed on the brush cylinder and the rotating ring, and the two differential bevel gears are respectively connected to the two driven bevel gears.

[0018] Preferably, the detection component also includes a leakage detector and an audible and visual alarm fixed on the actuator arm, the data ends of the leakage detector and the audible and visual alarm are both connected to the data of the central control host, and the leakage detector is arranged between the clamp ring and the brush cylinder.

[0019] Preferably, the glue coating and fixing assembly comprises a glue box installed on the actuator arm, a peristaltic pump is installed at the bottom of the glue box, and a liquid outlet port of the peristaltic pump is connected to a glue hose.

[0020] Compared with the prior art, the beneficial effects achieved by the present invention are:

[0021] 1. When the present invention is working, on the one hand, it can realize flexible wiring at multiple angles and multiple spaces, and on the other hand, it can quickly remove the remaining cables during wiring. When the present invention is used, it can also realize online pre-cleaning of cables and online leakage, visual and ultrasonic flaw detection. At the same time, the device can also realize gluing and fixing of cables during wiring, thereby effectively improving the functionality of the robot.

[0022] 2. When the robot performs wiring operations, the air pump is controlled so that the interior of the air cavity is sufficiently inflated and the clamp bag is fully expanded. When the data value of the air pressure probe reaches the set value, the air pump stops working, and when the data value of the air pressure probe reaches the set value, the clamp bag fully supports the cable from the inside of the cable. After the cable is fully supported, the laying and wiring operations can be carried out. When the cable wiring on the roller is completed and the remaining cable on the roller needs to be removed from the roller, first, the air inside the air cavity is fully emptied through the setting of the air pump. After the gas inside the air cavity is fully emptied, the clamp bag loses its internal support and clamping effect on the cable. After the clamp bag loses its internal support and clamping effect on the cable, the cable is kept in a relaxed state. After the cable is kept in a relaxed state, the linear transmission module drives the unloading push plate to move along the axial direction of the roller. After the unloading push plate is moved, the remaining cable on the roller is quickly removed as a whole.

[0023] 3. When the robot is working, the rotation output setting of the electric rotator and the adjustable angle setting of the first mechanical arm, the second mechanical arm and the execution arm can flexibly adjust the wiring angle and wiring height of the execution arm when performing wiring operations, and then adjust the spatial wiring state of the execution arm, thereby effectively improving the wiring flexibility of the robot. By improving the wiring flexibility, the applicable scenarios and functionality of the robot during wiring operations are effectively improved.

[0024] 4. When the robot is wiring, under the driving action of the rotating ring, the visual inspection probe and the ultrasonic flaw detector revolve at a set speed with the axis of the cable as the axis. Through the revolution and rotation of the visual inspection probe and the ultrasonic flaw detector, 360° all-round visual inspection and ultrasonic flaw detection of the cable can be achieved when the cable is transported. When the cable is wired, the leakage detector performs real-time leakage detection on the cable. Through leakage detection, the usable status and quality of the cable can be detected in real time. When the visual inspection probe and the ultrasonic flaw detector generate abnormal data feedback or the leakage detector generates abnormal data feedback, the sound and light alarm automatically sounds and sounds an alarm.

[0025] 5. When the present invention is wiring, the brush cylinder rotates at a set speed. When the brush cylinder rotates, negative pressure is generated inside the negative pressure cylinder. After the brush cylinder rotates, the impurities on the outer surface of the cable are cleaned by the spiral brush piece. The cleaning effect of the cylinder cable is achieved, thereby enabling accurate visual inspection and ultrasonic flaw detection of the cable. The spiral structure of the spiral brush piece can achieve repeated cleaning of the dirt on the outer surface of the cable and automatic discharge of the dirt from the outer surface of the cable. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A schematic diagram of the electrical wiring robot;

[0027] Figure 2 for Figure 1A schematic diagram of the local enlarged structure at point A in the middle;

[0028] Figure 3 for Figure 1 A schematic diagram of the local enlarged structure at B in the middle;

[0029] Figure 4 for Figure 1 A schematic diagram of the local enlarged structure at C in the middle;

[0030] Figure 5 is a schematic diagram of the structure of the air pump and the first motor;

[0031] Figure 6 It is a schematic diagram of the structure of the wire feeding clamp wheel and the second motor;

[0032] Figure 7 It is a schematic diagram of the cross-sectional structure of the guide cable and the material-cutting push plate;

[0033] Figure 8 It is a schematic diagram of the cross-sectional structure of the glue box and the dust bag;

[0034] Fig. 9 for Figure 8 A schematic diagram of the local enlarged structure at D in the middle;

[0035] Fig.10 for Figure 8 Schematic diagram of the local enlarged structure at point E in the middle.

[0036] Among them: 1. Self-propelled trolley; 2. Reel; 3. Cable; 101. Executing arm; 102. Rotating table; 103. Electric rotator; 104. First mechanical arm; 105. Second mechanical arm; 106. Adjusting arm push rod; 107. Central control host; 108. Clamp ring; 201. Reel; 202. First motor; 203. Cloth electric clamp; 204. Battery; 205. Air pump; 206. Air cavity; 207. Linear transmission module; 208. Clamp capsule; 209. Wire rack; 210. Unloading push plate; 211. Conductive cable ; 401, wire feeding clamp wheel; 402, linkage gear; 403, second motor; 404, wire laying wheel; 405, wire guide wheel; 501, brush cylinder; 502, negative pressure cylinder; 503, pump shaft; 504, negative pressure ring cavity; 505, dust suction hole; 506, spiral brush; 507, dust suction ring tube; 508, dust collecting bag; 601, rotary ring; 602, visual inspection probe; 603, ultrasonic flaw detector; 604, differential shaft; 701, leakage detector; 702, sound and light alarm; 801, rubber box; 802, rubber hose. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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.

[0038] See also Figure 1-10 The electrical wiring robot comprises a self-propelled vehicle 1, wherein the self-propelled vehicle 1 has a power mechanism and a steering mechanism built therein, and the self-propelled vehicle 1 is made to walk along a specified track through the load of the power mechanism and the steering mechanism;

[0039] It also includes: a multi-section mechanical arm assembly and a roll rack 2, both of which are installed on the self-propelled vehicle 1, and an actuator arm 101 is installed at the end of the multi-section mechanical arm assembly;

[0040] The multi-section mechanical arm assembly includes a rotary table 102, an electric rotator 103 is installed between the rotary table 102 and the self-propelled trolley 1, a first mechanical arm 104 is hinged on the rotary table 102, a second mechanical arm 105 is hinged at the front end of the first mechanical arm 104, the front end of the second mechanical arm 105 is hinged to the execution arm 101, and a group of arm adjustment push rods 106 are hinged between the first mechanical arm 104 and the rotary table 102, between the second mechanical arm 105 and the first mechanical arm 104, and between the execution arm 101 and the second mechanical arm 105;

[0041] When the robot is working, the rotation output setting of the electric rotator 103 and the adjustable angle setting of the first mechanical arm 104, the second mechanical arm 105 and the execution arm 101 can flexibly adjust the wiring angle and wiring height of the execution arm 101 when performing wiring operations, and then adjust the spatial wiring state of the execution arm 101, thereby effectively improving the wiring flexibility of the robot. By improving the wiring flexibility, the applicable scenarios and functionality of the robot during wiring operations are effectively improved;

[0042] A central control host 107 is installed on the self-propelled trolley 1, and a tie ring 108 cooperating with the cable 3 is fixedly installed on the second mechanical arm 105. Through the setting of the tie ring 108, the cable 3 is effectively limited and guided in motion;

[0043] The reel 201 is rotatably connected to the reel frame 2 and driven by the first motor 202. The reel 201 is respectively equipped with a cloth-electricity clamp 203 and a self-arranging cable assembly. The reel frame 2 is equipped with a battery 204 electrically connected to the cloth-electricity clamp 203. The reel 201 is wound with a cable 3 electrically connected to the cloth-electricity clamp 203.

[0044] When the cable 3 is laid into the reel 201, the energized end of the cable 3 is limited and energized by the power-laying clamp 203;

[0045] By setting the power-on state of the cable 3 wiring, online leakage detection is realized on the cable 3 wiring;

[0046] The self-arranging wire assembly includes an air pump 205 fixed to the back of the reel 2, an air cavity 206 opened in the reel 201, and a linear transmission module 207 installed on the reel 2;

[0047] The port of the air pump 205 is rotatably connected to the air cavity 206 through an air guide tube, and an air pressure probe electrically connected to the central control host 107 is installed on the air guide tube;

[0048] A group of clip capsules 208 distributed in a circumferential array are installed on the roller 201, and the inner cavity of each clip capsule 208 is connected to the air cavity 206;

[0049] The linear transmission module 207 is connected to a wire rack 209, which is slidably connected to the winding rack 2, and a material unloading push plate 210 is rotatably connected to the wire rack 209;

[0050] When wiring is being done, the air pump 205 is controlled so that the air cavity 206 is sufficiently inflated and the clip bag 208 is fully expanded. When the data value of the air pressure probe reaches the set value, the air pump 205 stops working.

[0051] When the data value of the air pressure probe reaches the set value, the clamping capsule 208 fully supports the cable 3 from the inner side of the cable 3. After the cable 3 is fully supported, the laying and wiring operations can be carried out.

[0052] When the cable 3 on the reel 201 is completely routed and the remaining cable 3 on the reel 201 needs to be removed from the reel 201, first, the gas in the air cavity 206 is fully emptied by setting the air pump 205. After the gas in the air cavity 206 is fully emptied, the clamping capsule 208 loses its internal support and clamping effect on the cable 3. After the clamping capsule 208 loses its internal support and clamping effect on the cable 3, the cable 3 is kept in a relaxed state.

[0053] After the cable 3 is kept in a relaxed state, the linear transmission module 207 drives the unloading push plate 210 to move along the axial direction of the winding roller 201. After the unloading push plate 210 moves, the remaining cable 3 on the winding roller 201 is quickly and integrally removed;

[0054] The self-arranging cable assembly also includes a conductive cable 211 installed at the axis position of the winding roller 201, and the electrical wiring clamp 203 is electrically connected to the battery 204 through the conductive cable 211;

[0055] The detection component is installed on the actuator arm 101 and performs leakage, visual and ultrasonic flaw detection on the cable 3.

[0056] The detection component includes a rotating ring 601 rotatably connected to the execution arm 101, the rotating axis of the rotating ring 601 is in the same straight line as the rotating axis of the brush cylinder 501, the rotating ring 601 is driven by a belt, and two symmetrically arranged support plates are installed on the rotating ring 601, and the inner walls of the two support plates are respectively installed with a visual detection probe 602 and an ultrasonic flaw detector 603, the axes of the visual detection probe 602 and the ultrasonic flaw detector 603 are both perpendicular to the axis of the rotating ring 601, and the data terminals of the visual detection probe 602 and the ultrasonic flaw detector 603 are connected to the central control host 107 through wireless data transmission;

[0057] The inner wall of the actuator arm 101 is rotatably connected to two differential shafts 604, both of which are connected to the belt transmission, and differential bevel gears are installed on both differential shafts 604. Driven bevel gears are fixedly installed on the brush cylinder 501 and the rotating ring 601, and the two differential bevel gears are respectively connected to the two driven bevel gears.

[0058] When the robot is wiring, under the driving action of the rotating ring 601, the visual inspection probe 602 and the ultrasonic flaw detector 603 revolve at a set speed with the axis of the cable 3 as the axis. Through the revolving and rotating of the visual inspection probe 602 and the ultrasonic flaw detector 603, 360° all-round visual inspection and ultrasonic flaw detection of the cable 3 are realized when the cable 3 is transported;

[0059] The central control host 107 has an image recognition module built in that cooperates with the visual detection probe 602;

[0060] The detection component also includes a leakage detector 701 and an audible and visual alarm 702 fixed on the execution arm 101. The data ends of the leakage detector 701 and the audible and visual alarm 702 are both connected to the central control host 107. The leakage detector 701 is arranged between the clamp ring 108 and the brush cylinder 501.

[0061] When the cable 3 is being laid, the leakage detector 701 performs real-time leakage detection on the cable 3;

[0062] Through leakage detection, the usable state and quality of the cable 3 can be detected in real time;

[0063] When the visual inspection probe 602 and the ultrasonic flaw detector 603 generate abnormal data feedback or the leakage detector 701 generates abnormal data feedback, the sound and light alarm 702 automatically sounds and sounds an alarm;

[0064] A wire feeding assembly for clamping and directional conveying of the cable 3;

[0065] The wire feeding assembly includes two wire feeding clamping wheels 401 rotatably connected to the actuator arm 101, and a clamping gap for clamping the cable 3 is fixedly arranged between the two wire feeding clamping wheels 401;

[0066] The wire feeding clamp wheel 401 is made of rubber;

[0067] The two wire feeding clamping wheels 401 are both fixedly mounted with linkage gears 402, and the two linkage gears 402 mesh with each other;

[0068] A second motor 403 is installed on the side of the actuator arm 101, and the output shaft end of the second motor 403 is fixedly connected to a wire feeding clamping wheel 401;

[0069] During the wiring operation, the first motor 202 and the second motor 403 are both working. After the first motor 202 and the second motor 403 are working, the speed of the second motor 403 is slightly higher than the speed of the first motor 202. The speed difference between the second motor 403 and the first motor 202 is maintained, so that the cable 3 can be fully tensioned during wiring and the cable 3 can be fully straightened before wiring and the curvature of the cable 3 can be effectively reduced, thereby improving the wiring effect and wiring accuracy of the cable 3;

[0070] A belt is connected to a wire feeding clamp wheel 401, and two wire laying wheels 404 and a wire guide wheel 405 are rotatably connected between the inner surfaces of the execution arm 101. A threading seam for clamping the cable 3 is fixedly arranged between the two wire laying wheels 404.

[0071] A cleaning module for cleaning the outer surface of the cable 3;

[0072] The brush cleaning module includes a brush cylinder 501 and a negative pressure cylinder 502 which are rotatably connected to the execution arm 101. The inner wall of the brush cylinder 501 is rotatably connected to a pump shaft 503 driven by a belt. A group of negative pressure blades distributed in a circumferential array are installed on the pump shaft 503 and at a position corresponding to the inner side of the negative pressure cylinder 502. A negative pressure ring cavity 504 is fixedly opened inside the brush cylinder 501. The inner wall of the brush cylinder 501 is provided with a plurality of dust suction holes 505 which are regularly distributed and communicated with the negative pressure ring cavity 504.

[0073] A spiral brush piece 506 is fixedly mounted on the inner wall of the brush cylinder 501, and the inner wall of the spiral brush piece 506 is in contact with the cable 3;

[0074] The brush cylinder 501 is rotatably connected with a dust collecting ring tube 507, the inner cavity of the dust collecting ring tube 507 is rotatably connected with the negative pressure ring cavity 504, and the dust collecting ring tube 507 is connected with the negative pressure cylinder 502 through a connecting pipe;

[0075] The dust outlet port of the negative pressure cylinder 502 is connected to a dust collecting bag 508, and the brush cylinder 501 is driven by a belt;

[0076] During wiring, the brush cylinder 501 rotates at a set speed. When the brush cylinder 501 rotates, negative pressure is generated inside the negative pressure cylinder 502. After the brush cylinder 501 rotates, the impurities on the outer surface of the cable 3 are cleaned through the spiral brush piece 506. The cleaning effect of the cable 3 is achieved, so that accurate visual inspection and ultrasonic flaw detection of the cable 3 can be achieved.

[0077] The spiral structure of the spiral brush 506 can realize repeated cleaning of dirt on the outer surface of the cable 3 and automatic discharge of dirt on the outer surface of the cable 3;

[0078] Glue the fixing components and apply glue to the cable 3 periodically.

[0079] The glue coating and fixing assembly includes a glue box 801 installed on the actuator arm 101 , a peristaltic pump is installed at the bottom of the glue box 801 , and a glue hose 802 is connected to the liquid outlet of the peristaltic pump.

[0080] During the wiring operation, the peristaltic pump works periodically, and then glue is applied periodically to the surface of the cable 3, so as to fix the cable 3 on the wiring platform through the periodic glue application.

[0081] Although the 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 alterations may be made to the embodiments without departing from the principles and spirit thereof, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An electrical wiring robot, comprising a self-propelled vehicle (1), characterized in that: Also includes: A multi-section mechanical arm assembly and a roll rack (2) are both mounted on a self-propelled trolley (1), and an actuator arm (101) is mounted at the end of the multi-section mechanical arm assembly; A winding roller (201) is rotatably connected to a winding frame (2) and driven by a first motor (202); a cloth-electricity clamp (203) and a self-arranging cable assembly are respectively mounted on the winding roller (201); a storage battery (204) electrically connected to the cloth-electricity clamp (203) is mounted on the winding frame (2); and a cable (3) electrically connected to the cloth-electricity clamp (203) is wound on the winding roller (201); A detection component is installed on the actuator arm (101) and performs leakage, visual and ultrasonic flaw detection on the cable (3); A wire feeding assembly for clamping and directional feeding of the wire (3); A cleaning module for cleaning the outer surface of the cable (3); The glue fixing assembly is glued periodically to the cable (3).

2. The electrical wiring robot according to claim 1, characterized in that: The multi-section mechanical arm assembly comprises a rotary table (102), an electric rotator (103) is installed between the rotary table (102) and the self-propelled trolley (1), a first mechanical arm (104) is hinged on the rotary table (102), a second mechanical arm (105) is hinged at the front end of the first mechanical arm (104), the front end of the second mechanical arm (105) is hinged to the execution arm (101), a group of arm adjustment push rods (106) are hinged between the first mechanical arm (104) and the rotary table (102), between the second mechanical arm (105) and the first mechanical arm (104), and between the execution arm (101) and the second mechanical arm (105), a central control host (107) is installed on the self-propelled trolley (1), and a tie ring (108) cooperating with the cable (3) is fixedly installed on the second mechanical arm (105).

3. The electrical wiring robot according to claim 1, characterized in that: The self-arranging wire assembly comprises an air pump (205) fixed to the back of the winding frame (2), an air cavity (206) opened in the winding roller (201), and a linear transmission module (207) installed on the winding frame (2); the port of the air pump (205) is rotatably connected to the air cavity (206) through an air guide tube; the air guide tube is equipped with an air pressure probe electrically connected to the central control host (107); a group of clamping capsules (208) distributed in a circular array are installed on the winding roller (201); the inner cavity of each clamping capsule (208) is connected to the air cavity (206); the linear transmission module (207) is transmission-connected to a wire arranging frame (209); the wire arranging frame (209) is slidably connected to the winding frame (2); and the wire arranging frame (209) is rotatably connected to a material unloading push plate (210).

4. The electrical wiring robot according to claim 3, characterized in that: The self-arranging cable assembly further comprises a conductive cable (211) installed at the axis position of the winding roller (201), and the electrical wiring clamp (203) is electrically connected to the storage battery (204) via the conductive cable (211).

5. The electrical wiring robot according to claim 1, characterized in that: The wire feeding assembly comprises two wire feeding clamping wheels (401) rotatably connected to the execution arm (101), a clamping gap for clamping the cable (3) is fixedly arranged between the two wire feeding clamping wheels (401), a linkage gear (402) is fixedly arranged on each of the two wire feeding clamping wheels (401), and the two linkage gears (402) are meshed with each other, a second motor (403) is installed on the side of the execution arm (101), the output shaft end of the second motor (403) is fixedly connected to one of the wire feeding clamping wheels (401), a belt is connected to one of the wire feeding clamping wheels (401) for transmission, two wire laying wheels (404) and a wire guide wheel (405) are rotatably connected between the inner surfaces of the execution arm (101), and a threading gap for clamping the cable (3) is fixedly arranged between the two wire laying wheels (404).

6. The electrical wiring robot according to claim 5, characterized in that: The cleaning module comprises a brush cylinder (501) and a negative pressure cylinder (502) rotatably connected to the execution arm (101); the inner wall of the brush cylinder (501) is rotatably connected to a pump shaft (503) driven by a belt; a group of negative pressure blades distributed in a circular array are installed on the pump shaft (503) and at a position corresponding to the inner side of the negative pressure cylinder (502); a negative pressure ring cavity (504) is fixedly opened inside the brush cylinder (501); and the inner wall of the brush cylinder (501) is provided with a plurality of dust collecting holes regularly distributed and connected to the negative pressure ring cavity (504). Hole (505), a spiral brush sheet (506) is fixedly installed on the inner wall of the brush cylinder (501), the inner wall of the spiral brush sheet (506) is in contact with the cable (3), a dust suction ring tube (507) is rotatably connected to the brush cylinder (501), the inner cavity of the dust suction ring tube (507) is rotatably connected to the negative pressure ring cavity (504), the dust suction ring tube (507) is connected to the negative pressure cylinder (502) through a connecting pipe, the dust outlet port of the negative pressure cylinder (502) is connected to a dust collecting bag (508), and the brush cylinder (501) is driven by a belt.

7. The electrical wiring robot according to claim 6, characterized in that: The detection component comprises a rotating ring (601) rotatably connected to the execution arm (101), the rotating axis of the rotating ring (601) and the rotating axis of the brush cylinder (501) are on the same straight line, the rotating ring (601) is driven by a belt, two symmetrically arranged support plates are installed on the rotating ring (601), and the inner walls of the two support plates are respectively installed with a visual detection probe (602) and an ultrasonic flaw detector (603), the axes of the visual detection probe (602) and the ultrasonic flaw detector (603) are both perpendicular to the axis of the rotating ring (601), and the data ends of the visual detection probe (602) and the ultrasonic flaw detector (603) are both connected to the central control host (107) through wireless data transmission.

8. The electrical wiring robot according to claim 7, characterized in that: The inner wall of the actuator arm (101) is rotatably connected to two differential shafts (604), the two differential shafts (604) are both connected to a belt transmission, the two differential shafts (604) are both mounted with differential bevel gears, the brush cylinder (501) and the rotating ring (601) are both fixedly mounted with driven bevel gears, and the two differential bevel gears are respectively connected to two driven bevel gears in a transmission manner.

9. The electrical wiring robot according to claim 8, characterized in that: The detection assembly further comprises a leakage detector (701) and an audible and visual alarm (702) fixed on the actuator arm (101); the data ends of the leakage detector (701) and the audible and visual alarm (702) are both data-connected to the central control host (107); and the leakage detector (701) is arranged between the clamping ring (108) and the brush cylinder (501).

10. The electrical wiring robot according to claim 1, characterized in that: The glue coating and fixing assembly comprises a glue box (801) mounted on the actuator arm (101), a peristaltic pump is mounted at the bottom of the glue box (801), and a liquid outlet port of the peristaltic pump is connected to a glue hose (802).

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