Electrical wiring robot

Abstract

The present invention relates to the technical field of wiring robots, and discloses an electrical wiring robot. It includes a self-propelled trolley, and further includes: a multi-joint robotic arm assembly and a reel rack, both of which are installed on the self-propelled trolley. An execution arm is installed at the end of the multi-joint robotic arm assembly. A reel is rotatably connected to the reel rack and driven by a first motor. A power distribution chuck and a self-arranging wire assembly are respectively installed on the reel. A storage battery electrically connected to the power distribution chuck is installed on the reel rack. A wire cable electrically connected to the power distribution chuck is wound on the reel. A detection assembly is installed on the execution arm to detect wire cable leakage, visual inspection, and ultrasonic flaw detection. When the present invention works, on the one hand, it can achieve flexible wiring in multiple angles and multiple spaces. On the other hand, during wiring, it can quickly move out the remaining wire cable. Moreover, when the present invention is in use, it can also pre-clean the wire cable online and perform online leakage, visual inspection, and ultrasonic flaw detection on the wire cable.

Description

Technical Field

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

[0002] A cable is a device for transmitting electrical energy or signals. It is usually a cable similar to a rope formed by stranding several or several groups of wires. Each group of wires is insulated from each other and is often twisted around a center. The whole is covered with a highly insulating covering layer. The cable has the characteristics of being energized inside and insulated outside. When laying a cable, a wiring robot needs to be used in combination.

[0003] In the prior art, a patent document with the publication number CN113889897B discloses an intelligent wiring robot based on machine vision technology and its working method, including a workbench, a front-back moving mechanism, a left-right moving mechanism, an up-down moving mechanism, a wire feeding mechanism, a wire stripping mechanism, a wiring mechanism and a vision camera. A bracket is arranged at the bottom of the workbench, and a positioning chute is opened at the top of the workbench. The above robot improves the degree of automation of production and avoids misoperations of manual operations. However, on the one hand, the above robot is not convenient for realizing flexible wiring in multiple angles and multiple spaces. On the other hand, when wiring, it is not convenient to quickly remove the remaining cables. Moreover, when the existing robot is in use, it is not convenient to pre-clean the cables online and perform online leakage, vision and ultrasonic flaw detection. Based on this, the present invention provides an electrical wiring robot to solve the technical problems raised in the above background art. Summary of the Invention

[0004] The purpose of the present invention is to provide an electrical wiring robot, which solves the problems in the background art that on the one hand, the existing wiring robots are not convenient for realizing flexible wiring in multiple angles and multiple spaces, on the other hand, when wiring, it is not convenient to quickly remove the remaining cables, and when the existing robots are in use, it is not convenient to pre-clean the cables online and perform online leakage, vision and ultrasonic flaw detection. To solve the above technical problems, the present invention provides the following technical solutions: An electrical wiring robot includes a self-propelled trolley, and further includes:

[0005] A multi-joint robotic arm assembly and a reel rack, both installed on the self-propelled trolley, and an execution arm is installed at the end of the multi-joint robotic arm assembly;

[0006] A reel roller is rotatably connected to the reel rack and driven by a first motor. A power distribution chuck and a self-arranging wire assembly are respectively installed on the reel roller. A storage battery electrically connected to the power distribution chuck is installed on the reel rack, and a cable electrically connected to the power distribution chuck is wound on the reel roller;

[0007] A detection component is installed on the execution arm to detect cable leakage, vision and ultrasonic flaw detection; a wire feeding component is used for clamping and directionally conveying the cable;

[0008] Cleaning module for cleaning the outer surface of the cable;

[0009] Gluing and fixing component for periodically gluing the cable.

[0010] Preferably, the multi-joint 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 to the rotating platform. The front end of the first robotic arm is hinged to a second robotic arm. The front end of the second robotic arm is hinged to the execution arm. A set of arm adjusting 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 execution arm and the second robotic arm. A central control host is installed on the self-propelled trolley. A cable ring matching the cable is fixedly installed on the second robotic arm.

[0011] Preferably, the self-arranging cable component includes an air pump fixed to the back of the reel rack, an air cavity opened in the reel, and a linear transmission module installed on the reel rack. The port of the air pump is rotationally communicated with the air cavity through an air duct. A pressure probe electrically connected to the central control host is installed on the air duct. A set of clamping bladders distributed in a circumferential array are installed on the reel. The inner cavity of each clamping bladder is communicated with the air cavity. A cable arranging rack is drivingly connected to the linear transmission module. The cable arranging rack is slidably connected to the reel rack. A blanking push plate is rotatably connected to the cable arranging rack.

[0012] Preferably, the self-arranging cable component further includes a conductive cable installed at the axial position of the reel. The power distribution chuck is electrically connected to the storage battery through the conductive cable.

[0013] Preferably, the wire feeding component includes two wire feeding pinch wheels rotatably connected to the execution arm. A clamping gap for clamping the cable is fixedly arranged between the two wire feeding pinch wheels. Linkage gears are fixedly installed on both wire feeding pinch wheels. The two linkage gears mesh with each other. A second motor is installed on the side of the execution arm. The output shaft end of the second motor is fixedly connected to one of the wire feeding pinch wheels. A belt is drivingly connected to one of the wire feeding pinch wheels. Two laying wheels and a wire guiding wheel are rotatably connected between the inner surfaces of the execution arm. A threading gap for clamping the cable is fixedly arranged between the two laying wheels.

[0014] Preferably, the cleaning module includes a brush barrel and a negative pressure barrel rotatably connected to the execution arm. A pump shaft driven by a belt is rotatably connected to the inner wall of the brush barrel. A group of negative pressure blades arranged in a circumferential array are installed on the pump shaft at a position corresponding to the inner side of the negative pressure barrel. A negative pressure ring cavity is fixedly formed inside the brush barrel. A plurality of regularly distributed dust suction holes communicating with the negative pressure ring cavity are formed in the inner wall of the brush barrel. A spiral brush piece is fixedly installed on the inner wall of the brush barrel. The inner wall of the spiral brush piece is attached to the cable. A dust suction ring pipe is rotatably connected to the brush barrel. The inner cavity of the dust suction ring pipe is rotationally communicated with the negative pressure ring cavity. The dust suction ring pipe is communicated with the negative pressure barrel through a connecting pipe. A dust collection bag is communicated with the dust outlet port of the negative pressure barrel. The brush barrel is driven by a belt.

[0015] Preferably, the detection component includes a rotating ring rotatably connected to the execution arm. The rotation axis of the rotating ring is on the same straight line as the rotation axis of the brush barrel. The rotating ring is driven by a belt. Two symmetrically arranged support plates are installed on the rotating ring. A visual detection probe and an ultrasonic flaw detector are respectively installed on the inner walls of the two support plates. The axes of the visual detection probe and the ultrasonic flaw detector are both perpendicular to the axis of the rotating ring. The data ends of the visual detection probe and the ultrasonic flaw detector are both connected to the central control host through wireless data transmission.

[0016] Preferably, two differential shafts are rotatably connected to the inner wall of the execution arm. Both of the two differential shafts are connected by belt drive. Differential bevel gears are installed on both of the two differential shafts. Driven bevel gears are fixedly installed on both the brush barrel and the rotating ring. The two differential bevel gears are respectively in transmission connection with the two driven bevel gears.

[0017] Preferably, the detection component further includes a leakage detector and an audible and visual alarm fixed to the execution arm. The data ends of the leakage detector and the audible and visual alarm are both connected to the central control host. The leakage detector is arranged between the cable restraint ring and the brush barrel.

[0018] Preferably, the glue coating and fixing component includes a glue box installed on the execution arm. A peristaltic pump is installed at the bottom of the glue box. A glue spreading pipe is communicated with the liquid outlet port of the peristaltic pump.

[0019] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0020] 1. When the present invention works, on the one hand, it can realize flexible wiring in multiple angles and multiple spaces. On the other hand, when wiring, it can quickly remove the remaining cables. Moreover, when the present invention is used, it can also pre-clean the cables online and perform online leakage, visual and ultrasonic flaw detection. At the same time, the device can also realize the glue coating and fixing of the cables when wiring, thereby effectively improving the functionality of this robot.

[0021] 2. When this robot conducts wiring operations, by controlling the air pump, the inside of the air chamber is fully inflated and the clamping capsule 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 clamping capsule fully supports the cable from the inside of the cable. After the cable is fully supported, the cable laying and wiring operations can then be carried out. When the wiring of the cable on the reel is completed and the remaining cable on the reel needs to be removed from the reel, first, by setting the air pump, the gas inside the air chamber is fully emptied. After the gas inside the air chamber is fully emptied, the clamping capsule then loses its inner support and clamping effect on the cable. After the clamping capsule loses its inner support and clamping effect on the cable, the cable then remains in a slack state. After the cable remains in a slack state, the linear drive module drives the blanking push plate to displace along the axis direction of the reel. After the blanking push plate displaces, the remaining cable on the reel is quickly removed as a whole.

[0022] 3. When this robot works, through the rotation output setting of the electric rotator and the angle-adjustable settings of the first robotic arm, the second robotic arm, and the execution arm, the wiring angle and wiring height of the execution arm during wiring operations can be flexibly adjusted, and then the spatial wiring state of the execution arm can be adjusted, thereby effectively improving the wiring flexibility of this robot. By improving the wiring flexibility, the applicable scenarios and functionality of this robot during wiring operations can be effectively improved.

[0023] 4. When this robot conducts wiring, under the driving action of the rotating ring, the visual inspection probe and the ultrasonic flaw detector perform a revolution movement at a set speed around the axis of the cable. Through the revolution 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 realized when the cable is being transported. When the cable is being wired, the leakage detector conducts real-time leakage detection on the cable. Through the leakage detection, the usable state and quality of the cable can be detected in real time. When abnormal data feedback occurs from the visual inspection probe and the ultrasonic flaw detector or when abnormal data feedback occurs from the leakage detector, the audible and visual alarm gives an automatic audible and visual alarm.

[0024] 5. When this invention conducts wiring, the brush barrel rotates at a set speed. When the brush barrel rotates, negative pressure is generated inside the negative pressure barrel. After the brush barrel rotates, the outer surface impurities of the cable are then cleaned through the spiral brush pieces. The realization of the cable cleaning effect by the barrel can thus enable the precise visual inspection and ultrasonic flaw detection of the cable. Through the spiral structure setting of the spiral brush pieces, the repeated cleaning of the dirt on the outer surface of the cable and the automatic discharge of the dirt on the outer surface of the cable can be realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic structural diagram of an electrical wiring robot;

[0026] Figure 2 is Figure 1Schematic diagram of the partial enlarged structure at position A in

[0027] Figure 3 is Figure 1 Schematic diagram of the partial enlarged structure at position B in

[0028] Figure 4 is Figure 1 Schematic diagram of the partial enlarged structure at position C in

[0029] Figure 5 Schematic diagram of the structures of the air pump and the first motor;

[0030] Figure 6 Schematic diagram of the structures of the wire feeding pinch wheel and the second motor;

[0031] Figure 7 Schematic diagram of the sectional structure of the guiding cable and the blanking push plate;

[0032] Figure 8 Schematic diagram of the sectional structure of the glue box and the dust collection bag;

[0033] Figure 9 is Figure 8 Schematic diagram of the partial enlarged structure at position D in

[0034] Figure 10 is Figure 8 Schematic diagram of the partial enlarged structure at position E in

[0035] Wherein: 1, self - propelled trolley; 2, reel rack; 3, cable; 101, execution arm; 102, rotary table; 103, electric rotator; 104, first robotic arm; 105, second robotic arm; 106, arm adjusting push rod; 107, central control host; 108, beam ring; 201, reel roller; 202, first motor; 203, power distribution chuck; 204, storage battery; 205, air pump; 206, air cavity; 207, linear drive module; 208, clamping bladder; 209, wire arranging rack; 210, blanking push plate; 211, guiding cable; 401, wire feeding pinch wheel; 402, linkage gear; 403, second motor; 404, wire laying wheel; 405, wire guiding wheel; 501, brush barrel; 502, negative pressure barrel; 503, pump shaft; 504, negative pressure ring cavity; 505, dust suction hole; 506, spiral brush blade; 507, dust suction ring pipe; 508, dust collection bag; 601, rotating ring; 602, visual inspection probe; 603, ultrasonic flaw detector; 604, differential shaft; 701, leakage detector; 702, sound and light alarm; 801, glue box; 802, glue spreading pipe. Specific embodiments

[0036] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0037] Please refer to Figures 1 - 10 , an electrical wiring robot, including a self-propelled trolley 1. The self-propelled trolley 1 is internally provided with a power mechanism and a steering mechanism. Through the load of the power mechanism and the steering mechanism, the self-propelled trolley 1 walks along a specified trajectory.

[0038] It further includes: a multi-joint robotic arm assembly and a reel holder 2, both of which are installed on the self-propelled trolley 1. An execution arm 101 is installed at the end of the multi-joint robotic arm assembly.

[0039] The multi-joint robotic arm assembly includes a turntable 102. An electric rotator 103 is installed between the turntable 102 and the self-propelled trolley 1. A first robotic arm 104 is hinged on the turntable 102. A second robotic arm 105 is hinged at the front end of the first robotic arm 104. The front end of the second robotic arm 105 is hinged to the execution arm 101. A set of arm adjustment push rods 106 are hinged between the first robotic arm 104 and the turntable 102, between the second robotic arm 105 and the first robotic arm 104, and between the execution arm 101 and the second robotic arm 105.

[0040] When this robot works, through the rotation output setting of the electric rotator 103 and the angle adjustable setting of the first robotic arm 104, the second robotic arm 105 and the execution arm 101, the wiring angle and wiring height of the execution arm 101 during the wiring operation can be flexibly adjusted, and then the spatial wiring state of the execution arm 101 can be adjusted, so as to effectively improve the wiring flexibility of this robot. By improving the wiring flexibility, the applicable scenarios and functionality of this robot during the wiring operation can be effectively improved.

[0041] A central control host 107 is installed on the self-propelled trolley 1. A cable ring 108 cooperating with the cable 3 is fixedly installed on the second robotic arm 105. Through the setting of the cable ring 108, the cable 3 can be effectively limited and guided in motion.

[0042] A roller 201 is rotatably connected to the reel holder 2 and is driven by a first motor 202. A power connection chuck 203 and a self-wiring assembly are respectively installed on the roller 201. A storage battery 204 electrically connected to the power connection chuck 203 is installed on the reel holder 2. A cable 3 electrically connected to the power connection chuck 203 is wound on the roller 201.

[0043] When the cable 3 is fed into the roller 201, the energized end of the cable 3 is limited and energized by the power connection chuck 203.

[0044] By setting the energized state on the wiring of cable 3, online leakage detection is realized on the wiring of cable 3;

[0045] The self-aligning cable component includes an air pump 205 fixed to the back of the reel holder 2, an air chamber 206 opened in the reel 201, and a linear drive module 207 installed on the reel holder 2;

[0046] The port of the air pump 205 is rotationally connected to the air chamber 206 through an air duct, and a pressure probe electrically connected to the central control host 107 is installed on the air duct;

[0047] A group of clamping capsules 208 distributed in a circumferential array are installed on the reel 201, and the inner cavity of each clamping capsule 208 is communicated with the air chamber 206;

[0048] A cable arranging frame 209 is drivingly connected to the linear drive module 207. The cable arranging frame 209 is slidably connected to the reel holder 2, and a blanking push plate 210 is rotatably connected to the cable arranging frame 209;

[0049] When wiring operations are carried out, by controlling the air pump 205, the inside of the air chamber 206 is fully inflated and the clamping capsules 208 are fully expanded. When the data value of the pressure probe reaches the set value, the air pump 205 stops working;

[0050] And when the data value of the pressure probe reaches the set value, the clamping capsules 208 fully internally support the cable 3 from the inside of the cable 3. After the cable 3 is fully internally supported, the cable releasing and wiring operations can then be carried out;

[0051] When the wiring of the cable 3 on the reel 201 is completed and the remaining cable 3 on the reel 201 needs to be removed from the reel 201, first, by setting the air pump 205, the gas inside the air chamber 206 is fully emptied. After the gas inside the air chamber 206 is fully emptied, the clamping capsules 208 then lose the internal support and clamping effect on the cable 3. After the clamping capsules 208 lose the internal support and clamping effect on the cable 3, the cable 3 is then kept in a slack state;

[0052] After the cable 3 is kept in a slack state, the linear drive module 207 drives the blanking push plate 210 to displace along the axial direction of the reel 201. After the blanking push plate 210 displaces, the remaining cable 3 on the reel 201 is then quickly removed as a whole;

[0053] The self-aligning cable component further includes a conductive cable 211 installed at the axial position of the reel 201, and the power distribution chuck 203 is electrically connected to the storage battery 204 through the conductive cable 211;

[0054] The detection component is installed on the execution arm 101 and detects the leakage, visual inspection, and ultrasonic flaw detection of the cable 3

[0055] The detection component includes a rotating ring 601 rotatably connected to the execution arm 101. The rotation axis of the rotating ring 601 is on the same straight line as the rotation axis of the brush barrel 501. The rotating ring 601 is driven by a belt. Two symmetrically arranged support plates are installed on the rotating ring 601. A visual detection probe 602 and an ultrasonic flaw detector 603 are respectively installed on the inner walls of the two support plates. 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. The data ends of the visual detection probe 602 and the ultrasonic flaw detector 603 are data-connected to the central control host 107 through a wireless data transmission method;

[0056] Two differential shafts 604 are rotatably connected to the inner wall of the execution arm 101. Both of the two differential shafts 604 are connected to the belt drive. Differential bevel gears are installed on both of the two differential shafts 604. Driven bevel gears are fixedly installed on both the brush barrel 501 and the rotating ring 601. The two differential bevel gears are respectively in transmission connection with the two driven bevel gears;

[0057] When the robot is wiring, under the driving action of the rotating ring 601, the visual detection probe 602 and the ultrasonic flaw detector 603 perform a revolution movement at a set speed around the axis of the cable 3. Through the revolution rotation of the visual detection probe 602 and the ultrasonic flaw detector 603, 360° all-round visual detection and ultrasonic flaw detection of the cable 3 are realized when the cable 3 is being conveyed;

[0058] An image recognition module matching with the visual detection probe 602 is built in the central control host 107;

[0059] The detection component further includes a leakage detector 701 and an audible and visual alarm 702 fixed to the execution arm 101. The data ends of the leakage detector 701 and the audible and visual alarm 702 are data-connected to the central control host 107. The leakage detector 701 is arranged between the beam ring 108 and the brush barrel 501;

[0060] When the cable 3 is being wired, the leakage detector 701 performs real-time leakage detection on the cable 3;

[0061] Through the leakage detection, the serviceable state and the quality of the cable 3 are detected in real time;

[0062] When abnormal data feedback is generated by the visual detection probe 602 and the ultrasonic flaw detector 603 or when abnormal data feedback is generated by the leakage detector 701, the audible and visual alarm 702 gives an automatic audible and visual alarm;

[0063] A wire feeding component for clamping and directionally conveying the cable 3;

[0064] The wire feeding component includes two wire feeding pinch wheels 401 rotatably connected to the execution arm 101. A gap for clamping the cable 3 is fixedly arranged between the two wire feeding pinch wheels 401;

[0065] The wire-feeding clamping wheel 401 is made of rubber;

[0066] Linkage gears 402 are fixedly installed on both of the two wire-feeding clamping wheels 401, and the two linkage gears 402 mesh with each other;

[0067] A second motor 403 is installed on the side surface of the execution arm 101, and the output shaft end of the second motor 403 is fixedly connected to one of the wire-feeding clamping wheels 401;

[0068] During the wiring operation, both the first motor 202 and the second motor 403 work. After the first motor 202 and the second motor 403 work, the rotational speed of the second motor 403 is slightly higher than that of the first motor 202. By maintaining the rotational speed difference between the second motor 403 and the first motor 202, the cable 3 can be fully tensioned during wiring, and the cable 3 can be fully straightened before wiring, effectively reducing the curvature of the cable 3, thereby improving the wiring effect and wiring accuracy of the cable 3;

[0069] A belt is drivingly connected to the wire-feeding clamping wheel 401. Between the inner surfaces of the execution arm 101, two wire-laying wheels 404 and a wire-guiding wheel 405 are rotatably connected. A threading slit for clamping the cable 3 is fixedly arranged between the two wire-laying wheels 404;

[0070] A cleaning module for cleaning the outer surface of the cable 3;

[0071] The cleaning module includes a brush barrel 501 and a negative pressure barrel 502 rotatably connected to the execution arm 101. A pump shaft 503 driven by a belt is rotatably connected to the inner wall of the brush barrel 501. A group of negative pressure vanes distributed in a circumferential array is installed on the pump shaft 503 at a position corresponding to the inside of the negative pressure barrel 502. A negative pressure ring cavity 504 is fixedly opened inside the brush barrel 501. A plurality of groups of regularly distributed dust suction holes 505 communicating with the negative pressure ring cavity 504 are opened on the inner wall of the brush barrel 501;

[0072] A spiral brush piece 506 is fixedly installed on the inner wall of the brush barrel 501, and the inner wall of the spiral brush piece 506 is in contact with the cable 3;

[0073] A dust suction ring pipe 507 is rotatably connected to the brush barrel 501. The inner cavity of the dust suction ring pipe 507 is rotatably communicated with the negative pressure ring cavity 504, and the dust suction ring pipe 507 is communicated with the negative pressure barrel 502 through a connecting pipe;

[0074] The dust outlet port of the negative pressure barrel 502 is communicated with a dust collection bag 508, and the brush barrel 501 is driven by a belt;

[0075] During wiring, the brush barrel 501 rotates at a set speed. When the brush barrel 501 rotates, negative pressure is generated inside the negative pressure barrel 502. After the brush barrel 501 rotates, the impurities on the outer surface of the cable 3 are cleaned by the spiral brush piece 506, achieving the cleaning effect of the cable 3, so that the precise visual inspection and ultrasonic flaw detection of the cable 3 can be realized;

[0076] Through the spiral structure arrangement of the spiral brush piece 506, the repeated cleaning of the dirt on the outer surface of the cable 3 can be realized, and the automatic discharge of the dirt on the outer surface of the cable 3 can be achieved;

[0077] The glue application and fixing component applies glue to the cable 3 periodically.

[0078] The glue application and fixing component includes a glue tank 801 installed on the execution arm 101. A peristaltic pump is installed at the bottom of the glue tank 801, and a glue distribution pipe 802 is connected to the liquid outlet port of the peristaltic pump.

[0079] During the wiring operation, the peristaltic pump works periodically, and then applies glue to the surface of the cable 3 periodically. Through the periodic glue application, the fixing of the cable 3 on the wiring platform can be realized.

[0080] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirits. 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); Glue-applying and fixing components, periodically applying glue to the cable (3); 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), a front end of the second mechanical arm (105) is hinged to an 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); 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).

2. The electrical wiring robot according to claim 1, 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).

3. 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 the wire feeding clamping wheel (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).

4. The electrical wiring robot according to claim 3, 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.

5. The electrical wiring robot according to claim 4, 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.

6. The electrical wiring robot according to claim 5, 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.

7. The electrical wiring robot according to claim 6, 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).

8. 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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