Multi-mode bionic robot for autonomous maintenance of damper and control method

Abstract

The invention relates to a multi-mode bionic robot for autonomous maintenance of a damper and a control method. The multi-mode bionic robot comprises a flying wing mechanism, a control assembly, a clamping mechanism, a bionic operation mechanism, a walking mechanism, a visual assembly and a multi-mode sensing system. According to the leg-wing multi-mode intelligent bionic robot, the leg-wing multi-mode intelligent bionic robot is innovatively constructed on the basis of biological leg and flying wing structural characteristics and an action mechanism model, leg type and wing type configurations can be independently utilized, and leg-wing configuration and other configurations can be combined so as to adapt to the dynamic and changeable overhead transmission line working environment; finally, safer and more efficient vibration damper resetting and replacing work is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of power equipment maintenance, and in particular to a multi-mode bionic robot and a control method for autonomous maintenance of an anti-vibration hammer. Background Art

[0002] As an important part of the power grid, overhead transmission lines are widely distributed and in complex and diverse environments. When the transmission lines are blown by strong winds, strong vibrations will occur, which may cause the transmission lines to stretch or even break strands and wires. In addition, strong vibrations may also damage other electrical fittings on the line. During its operation, the anti-vibration hammer plays a key role. It can effectively reduce the vibration of the transmission line caused by wind and other factors, and ensure the smooth operation of the line.

[0003] However, in long-term use, the fastening bolts of the anti-vibration hammer may loosen due to breeze vibration, aging and corrosion of the fixed parts, thermal expansion and contraction of the transmission line, etc., which will cause the anti-vibration hammer to continuously move slightly until the anti-vibration hammer loses its original vibration reduction effect, and even aggravates the vibration and causes wear of the line. Therefore, it is necessary to reset or replace the displaced or failed anti-vibration hammer.

[0004] At present, the replacement and resetting of anti-vibration hammers are mainly done manually or by robots. Among them, manual operations using ladders or flying cars face many problems. On the one hand, high voltage and strong magnetic fields are harmful to human health; on the other hand, the labor intensity of operators is high, the operation risk is high, the cost of personnel movement is high, and the work efficiency is low. There are also blind spots in the field of vision, making it difficult to detect abnormal situations in time. The operating efficiency of robots used to replace and reset anti-vibration hammers is low, and it is difficult to accurately and efficiently complete large-scale, large-scale replacement and resetting tasks. When faced with complex overhead transmission line environments, most robots only consider crossing small-line hardware, lack universality, and are not competent for crossing between poles and towers or replacing and resetting anti-vibration hammers for double or multiple lines. Summary of the invention

[0005] To this end, the technical problem to be solved by the present invention is to overcome the problem that the replacement and resetting of the anti-vibration hammer in the prior art mainly rely on manual or robot operation, wherein manual operation has high work intensity, low efficiency and high risk; the robot has low operating efficiency, and it is difficult to accurately and efficiently realize large-scale and large-scale replacement and resetting of the anti-vibration hammer, and the robot has poor versatility.

[0006] In order to solve the above technical problems, the present invention provides a multi-mode bionic robot for autonomous maintenance of an anti-vibration hammer, comprising: A flying wing mechanism, the flying wing mechanism comprises a frame and a rotor, a plurality of the rotors are provided, and the plurality of the rotors are symmetrically connected to the frame; A control component, the control component comprising a box and a controller, the box being connected to the frame, the controller being installed in the box, and the controller being connected to each of the rotors; A clamping mechanism, the clamping mechanism comprising two electric clamps disposed on the box body, and both of the electric clamps are connected to the controller; A bionic operating mechanism, the bionic operating mechanism comprising an electric displacement platform, the electric displacement platform is connected to the box, a distance measuring device and an electric wrench respectively connected to the controller are arranged on the electric displacement platform, and the working ends of the distance measuring device and the electric wrench are both facing between the two electric clamping jaws; A walking mechanism, wherein the walking mechanism comprises a plurality of electric push rods connected to the box body, the output shafts of the electric push rods are connected to a group of drive motors, the drive motors are connected to the controller, and the output shafts of the drive motors are coaxially connected to a walking wheel; A visual component, wherein the visual component comprises two first visual cameras and one second visual camera, wherein the two first visual cameras are symmetrically connected to the box and are located on a side away from the bionic operating mechanism, and the working ends of the two first visual cameras are respectively facing the two electric clamps, and the second visual camera is connected to the box and is located on a side close to the bionic operating mechanism, and the working end of the second visual camera is facing between the two electric clamps; A multimodal sensing system, the multimodal sensing system includes an ultrasonic sensor, an infrared sensor, a stereo camera, a hyperelastic strain sensor and a wind speed and direction sensor which are arranged in the middle of the frame and are respectively connected to the controller, wherein the ultrasonic sensor and the infrared sensor are used for online and real-time perception of the distance information between the robot and the obstacle; the stereo camera is used for generating point cloud information and positioning information and monitoring abnormal intrusion information; the hyperelastic strain sensor is used for monitoring the posture of the robot; and the wind speed and direction sensor is used for providing real-time reference information for adjusting the posture of the robot.

[0007] Preferably, the drive motor is a reduction motor, which is connected to the output shaft of the electric push rod through a bearing seat, and the free end of the output shaft of the drive motor is coaxially connected to a flange end cover, and the travel wheel is coaxially arranged on the output shaft of the drive motor and located between the flange end cover and the bearing seat, and the flange end cover is connected to the travel wheel through a plurality of pins.

[0008] Preferably, a shaft sleeve is coaxially arranged on the output shaft of the driving motor and is located between the bearing seat and the traveling wheel, and two ends of the shaft sleeve are respectively in contact with the bearing seat and the traveling wheel.

[0009] Preferably, the frame comprises a bracket, two ends of the bracket are symmetrically connected to two mutually parallel support plates, and the four rotors are connected to the bracket and are parallel to the support plates.

[0010] Preferably, the box is connected to one of the support plates in parallel via four connecting members, and the four connecting members are respectively connected to the four corners of the box.

[0011] Preferably, the arrangement direction of the two electric grippers is parallel to the arrangement direction of the walking wheels, and the two electric grippers are respectively located on both sides of the bionic operating mechanism.

[0012] Preferably, it also includes a power supply, which is arranged in the box and connected to the controller.

[0013] Preferably, the flying wing mechanism further includes a landing gear, and each of the rotors is coaxially connected to one of the landing gears.

[0014] Preferably, each of the first visual camera and the second visual camera is connected to the box through a supporting rod respectively.

[0015] A control method, using the multi-mode bionic robot for autonomous maintenance of anti-vibration hammers as described in any one of the above to maintain anti-vibration hammers on a transmission line, comprises the following steps: Step S1: The robot's rotor starts to enter flight mode and flies to the vicinity of the target power transmission line; Step S2: The robot lowers its flight altitude so that its traveling wheels are suspended on the target transmission line. The robot switches from the flight mode to the walking mode and inspects along the line through the walking mechanism. Step S3: During the inspection, the line condition is monitored in real time by a multi-modal sensing system, and the anti-vibration hammers on the line are inspected in turn to determine whether they are displaced or damaged; Step S4: when it is detected that the anti-vibration hammer is displaced, the two clamping claws are moved close to the target anti-vibration hammer and the two ends are clamped by contracting the electric push rod, and then the working end of the electric wrench is aligned with the fastening bolt of the anti-vibration hammer through the electric displacement platform to loosen it, and then the loosened anti-vibration hammer is driven to reset to the predetermined position and then tightened to achieve the reset of the anti-vibration hammer; when it is detected that the anti-vibration hammer is damaged, the target anti-vibration hammer is disassembled and brought back, and the damaged anti-vibration hammer clamped by the electric clamp is replaced by a good anti-vibration hammer by the staff, and then the robot installs the anti-vibration hammer to the predetermined position according to the above steps to complete the replacement of the anti-vibration hammer; Step S5: After the inspection is completed, the robot switches from walking mode to flying mode and flies away from the transmission line, returning to the base or waiting for the next mission instruction.

[0016] The above technical solution of the present invention has the following beneficial effects compared with the prior art: The multi-mode bionic robot for autonomous maintenance of anti-vibration hammers described in the present invention comprises a flying wing mechanism, a control component, a clamping mechanism, a bionic operating mechanism, a walking mechanism, a visual component and a multi-modal sensing system. The multi-mode bionic robot of the present invention can switch between flight mode and walking mode through the flying wing mechanism and the walking mechanism. The robot can fly to the vicinity of the target power transmission line in the flight mode, and can inspect along the power transmission line in the walking mode. The target anti-vibration hammer can be reset or replaced through the coordination between the clamping mechanism, the visual component, the bionic operating mechanism and the control component. It can not only replace the manual replacement and reset of the anti-vibration hammer, but also avoid the harm of high voltage and strong magnetic field to human health, and reduce the labor intensity and operation risk of the operators. It can also accurately and efficiently realize the replacement and reset tasks of anti-vibration hammers in a large range and in large quantities, and improve the adaptability of the robot to different working scenes and the accuracy of task execution. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below according to specific embodiments of the present invention in conjunction with the accompanying drawings, wherein Figure 1 is a stereogram of a multi-mode bionic robot for autonomous maintenance of an anti-vibration hammer according to the present invention; Figure 2 It is a bottom view of the flying wing mechanism of the multi-mode bionic robot for autonomous maintenance of the anti-vibration hammer of the present invention; Figure 3 It is a schematic diagram of the overall structure of the flying wing mechanism of the multi-mode bionic robot for autonomous maintenance of the anti-vibration hammer of the present invention; Figure 4 It is a structural schematic diagram of the visual component of the multi-mode bionic robot for autonomous maintenance of the anti-vibration hammer of the present invention; Figure 5 It is a structural schematic diagram of the bionic operating mechanism of the multi-mode bionic robot for autonomous maintenance of the anti-vibration hammer of the present invention; Figure 6 It is a structural schematic diagram of the walking mechanism of the multi-mode bionic robot for autonomous maintenance of the anti-vibration hammer of the present invention; Figure 7 The present invention is a flowchart of the multi-mode bionic robot for autonomous maintenance of an anti-vibration hammer.

[0018] Explanation of the reference numerals in the specification: 1. Wing mechanism; 11. Frame; 111. Bracket; 112. Support plate; 12. Rotor; 13. Landing gear; 2. Control assembly; 21. Box; 3. Clamping mechanism; 31. Electric gripper; 4. Bionic operating mechanism; 41. Electric displacement table; 42. Distance measuring device; 43. Electric wrench; 5. Walking mechanism; 51. Electric push rod; 52. Driving motor; 53. Walking wheel; 54. Bearing seat; 55. Flange end cover; 56. Pin; 57. Bushing; 6. Vision assembly; 61. First vision camera; 62. Second vision camera; 63. Support rod; 7. Multimodal sensing system; 8. Connector. DETAILED DESCRIPTION

[0019] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0020] Embodiment 1 Reference Figure 1-Figure 6 As shown, a multi-mode bionic robot for autonomous maintenance of an anti-vibration hammer according to the present invention comprises: The flying wing mechanism 1 comprises a frame 11 and a rotor 12. A plurality of rotors 12 are provided, and the plurality of rotors 12 are symmetrically connected to the frame 11. The control component 2 includes a box 21 and a controller. The box 21 is connected to the frame 11. The box 21 is equipped with a controller, and the controller is connected to each rotor 12. The clamping mechanism 3 includes two electric clamping jaws 31 disposed on the box body 21, and both electric clamping jaws 31 are connected to the controller; The bionic working mechanism 4 includes an electric displacement platform 41, which is connected to the box 21. The electric displacement platform 41 is provided with a distance measuring device 42 and an electric wrench 43 which are respectively connected to the controller. The working ends of the distance measuring device 42 and the electric wrench 43 are both oriented between the two electric clamping jaws 31. The walking mechanism 5 includes a plurality of electric push rods 51 connected to the box body 21, and a group of driving motors 52 are connected to the output shafts of the electric push rods 51, and the driving motors 52 are connected to the controller. A walking wheel 53 is coaxially connected to the output shaft of the driving motor 52, and the plurality of walking wheels 53 are located on the same straight line; The visual component 6 includes two first visual cameras 61 and one second visual camera 62. The two first visual cameras 61 are symmetrically connected to the box body 21 and are located on the side of the clamping mechanism 3 away from the bionic operating mechanism 4, and the working ends of the two first visual cameras 61 are respectively facing the two electric clamps 31. The second visual camera 62 is connected to the box body 21 and is located on the side close to the bionic operating mechanism 4, and the working end of the second visual camera 62 is facing between the two electric clamps 31.

[0021] Specifically, the clamping mechanism 3 is located in front of the bionic working mechanism 4, the first visual camera 61 is arranged on the side of the clamping mechanism 3 away from the bionic working mechanism 4 (i.e., in front of the clamping mechanism 3), and the second visual camera 62 is located on the side of the clamping mechanism 3 close to the bionic working mechanism 4; the first visual camera 61 is used to capture the image information of the anti-vibration hammer in real time, especially the position where the anti-vibration hammer is to be grasped by the two electric clamps 31; the second visual camera 62 captures the image information of the fastening bolt position of the anti-vibration hammer in real time on the side close to the bionic working mechanism 4. The distance measuring device 42 can be a depth camera, which can accurately measure the distance between the electric wrench 43 and the target anti-vibration hammer, and assist the electric wrench 43 in completing the task of loosening or tightening the bolts.

[0022] The multi-mode bionic robot for autonomous maintenance of anti-vibration hammers of the present invention can switch between flight mode and walking mode through a wing mechanism 1 and a walking mechanism 5. The robot can fly to the vicinity of a target power transmission line in flight mode, and can inspect along the power transmission line in walking mode. Furthermore, through the coordinated cooperation among the clamping mechanism 3, the visual component 6, the bionic operating mechanism 4 and the control component 2, the target anti-vibration hammer can be reset or replaced, and the replacement and reset tasks of anti-vibration hammers in a large range and in large quantities can be accurately and efficiently achieved.

[0023] Furthermore, it also includes a multimodal sensing system 7, which includes an ultrasonic sensor, an infrared sensor, a stereo camera, a superelastic strain sensor, and a wind speed and direction sensor, which are arranged in the middle of the frame 11 and are respectively connected to the controller, wherein the ultrasonic sensor and the infrared sensor are used to sense the distance information between the robot and the obstacle online in real time; the stereo camera is used to generate point cloud information and positioning information and monitor abnormal intrusion information; the superelastic strain sensor is used to monitor the posture of the robot; the wind speed and direction sensor is used to provide real-time reference information for the robot's posture adjustment. Specifically, the multimodal sensing system 7 is carried in the middle of the frame 11 as a core sensing device, which is responsible for all-round sensing and collecting information about the surrounding environment, providing strong support for the robot's safe flight and precise positioning.

[0024] Reference Figure 6As shown, further, the driving motor 52 is a reduction motor, the driving motor 52 is connected to the output shaft of the electric push rod 51 through the bearing seat 54, the free end of the output shaft of the driving motor 52 is coaxially connected with a flange end cover 55, the running wheel 53 is coaxially arranged on the output shaft of the driving motor 52 and is located between the flange end cover 55 and the bearing seat 54, and the flange end cover 55 is connected to the running wheel 53 through a plurality of pins 56. Specifically, the reduction motor provides sufficient torque output for driving the running wheel 53 to rotate, so that the running mechanism 5 can drive the entire device to move along the power transmission line.

[0025] Furthermore, a sleeve 57 is coaxially arranged on the output shaft of the driving motor 52 between the bearing seat 54 and the running wheel 53, and the two ends of the sleeve 57 are respectively in contact with the bearing seat 54 and the running wheel 53. Specifically, the sleeve 57 cooperates with the bearing seat 54 to limit the axial movement of the running wheel 53 to avoid vibration and noise.

[0026] Reference Figure 2 and Figure 3 As shown, further, the frame 11 includes a bracket 111 , two ends of the bracket 111 are symmetrically connected to two mutually parallel support plates 112 , and four rotors 12 are connected to the bracket 111 and are parallel to the support plates 112 .

[0027] Reference Figure 1 As shown, further, the box body 21 is connected to a support plate 112 in parallel through four connecting members 8, and the four connecting members 8 are respectively connected to the four corners of the box body 21. Specifically, the box body 21 is detachably connected to the flying wing mechanism 1 through the connecting members 8, and the box body 21 and each mechanism on the box body 21 can be easily connected to the flying wing mechanism 1, and can also be easily disassembled, which is convenient for maintenance and replacement of the equipment.

[0028] Furthermore, the arrangement direction of the two electric clamps 31 is parallel to the arrangement direction of the walking wheels 53, and the two electric clamps 31 are respectively located on both sides of the bionic working mechanism 4. Specifically, since the bolt connection point of the anti-vibration hammer is in the middle position, the two electric clamps 31 are arranged in front of the bionic working mechanism 4 and are respectively located on both sides of the bionic working mechanism 4. In this way, when the two electric clamps 31 clamp the two ends of the target anti-vibration hammer respectively, the positions of the bolt connection points of the bionic working mechanism 4 and the anti-vibration hammer are roughly corresponding, and the electric wrench 43 can be aligned with the bolt of the anti-vibration hammer by adjusting the electric displacement platform 41. Specifically, the electric clamp 31 plays a vital role in the operation process. It can accurately lift and clamp the anti-vibration hammer to ensure that the robot can successfully complete the task of resetting or replacing the anti-vibration hammer.

[0029] Furthermore, a power supply is also included, which is arranged in the box 21 and connected to the controller. The power supply provides power to each electric component. The power supply adopts a rechargeable mobile power supply, which is easy to install and replace, and easy to carry, so as to facilitate the use of the robot in different working areas.

[0030] Furthermore, the flying wing mechanism 1 further includes a landing gear 13, and each rotor 12 is coaxially connected with a landing gear 13. Specifically, the landing gear 13 is a cylindrical structure as a whole, and the landing gear 13 and the housing of the rotor 12 are integrally formed; the landing gear 13 can provide support and protection for the entire robot, and can also play a buffering role when the robot lands, so that the robot can adapt to different terrains.

[0031] Reference Figure 4 As shown, further, each first vision camera 61 and second vision camera 62 is connected to the box 21 through a support rod 63 respectively, and the first vision camera 61 and the second vision camera 62 can adjust the position along the support rod 63 to ensure that the first vision camera 61 and the second vision camera 62 have the most suitable shooting field of view, thereby ensuring that the robot works efficiently and accurately.

[0032] Embodiment 2 Reference Figure 7 As shown, a control method is used to maintain the anti-vibration hammer on the transmission line using the multi-mode bionic robot for autonomous maintenance of the anti-vibration hammer as in Example 1, comprising the following steps: Step S1: Start the robot, the four rotors 12 of the flying wing mechanism 1 start to rotate, and the robot enters the flight mode. The robot flies to the vicinity of the target power transmission line according to the preset route or manual remote control command. During the flight, the stereo camera, ultrasonic sensor and infrared sensor in the multimodal sensing system 7 continuously sense the surrounding environment to prevent the robot from colliding with other objects, and continuously adjust the flight posture by coordinating with the control algorithm of the controller to ensure accurate approach to the power transmission line.

[0033] Step S2: When the robot reaches a suitable position near the transmission line, the robot gradually lowers its height, and the walking mechanism 5 prepares to contact the transmission line, and finally the walking wheels 53 of the walking mechanism 5 are accurately hung on the target transmission line, and the robot switches from the flight mode to the walking mode. The driving motor 52 drives the walking wheels 53 to rotate, so that the robot moves along the transmission line.

[0034] Step S3: During the walking process, the multimodal sensing system 7 monitors the line conditions in real time, and checks the anti-vibration hammers on the line in turn to determine whether they are displaced or damaged.

[0035] Step S4: When it is found that the anti-vibration hammer on the transmission line needs maintenance, the robot stops walking and disposes of the target anti-vibration hammer; if the target anti-vibration hammer needs to be reset, the electric clamp 31 is first raised close to the anti-vibration hammer by contracting the electric push rod 51, and the two electric clamps 31 are used to clamp the two ends of the anti-vibration hammer respectively (in the process of the electric clamp 31 clamping the anti-vibration hammer, the two first visual cameras 61 capture the image information of the target anti-vibration hammer in real time, providing precise guidance for the robot to complete the positioning and grasping work), and then the electric displacement table 41 of the bionic operating mechanism 4 works, and the image information obtained by the second visual camera 62 and the depth camera (ranging device 42) is used to adjust the position and posture of the electric wrench 43, so that the working end of the electric wrench 43 is accurately aligned with the fastening bolts of the anti-vibration hammer and the bolts are loosened, and then the robot drives the loosened anti-vibration hammer to reset to the predetermined position through the walking mechanism 5, and then tightens the fastening bolts of the anti-vibration hammer through the electric wrench 43 to achieve the reset of the anti-vibration hammer. If the anti-vibration hammer is damaged, unscrew the fastening bolts of the anti-vibration hammer and take back the removed anti-vibration hammer. The staff will replace the damaged anti-vibration hammer clamped by the electric clamp 31 with a good anti-vibration hammer. The robot will install the anti-vibration hammer to the predetermined position according to the above steps to complete the replacement of the anti-vibration hammer.

[0036] Step S5: After completing the maintenance operation on the anti-vibration hammer, the robot continues to inspect along the power transmission line. When the entire inspection task is completed, the robot can switch from walking mode to flying mode according to the instruction, fly away from the power transmission line, return to the base or wait for the next task instruction.

[0037] Obviously, the above embodiments are merely examples for the purpose of clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the present invention.

Claims

1. A multi-mode bionic robot for autonomous maintenance of an anti-vibration hammer, characterized in that: include, A flying wing mechanism, the flying wing mechanism comprises a frame and a rotor, a plurality of the rotors are provided, and the plurality of the rotors are symmetrically connected to the frame; A control component, the control component comprising a box and a controller, the box being connected to the frame, the controller being installed in the box, and the controller being connected to each of the rotors; A clamping mechanism, the clamping mechanism comprising two electric clamps disposed on the box body, and both of the electric clamps are connected to the controller; A bionic operating mechanism, the bionic operating mechanism comprising an electric displacement platform, the electric displacement platform is connected to the box, a distance measuring device and an electric wrench respectively connected to the controller are arranged on the electric displacement platform, and the working ends of the distance measuring device and the electric wrench are both facing between the two electric clamping jaws; A walking mechanism, wherein the walking mechanism comprises a plurality of electric push rods connected to the box body, the output shafts of the electric push rods are connected to a group of drive motors, the drive motors are connected to the controller, and the output shafts of the drive motors are coaxially connected to a walking wheel; A visual component, wherein the visual component comprises two first visual cameras and one second visual camera, wherein the two first visual cameras are symmetrically connected to the box and are located on a side away from the bionic operating mechanism, and the working ends of the two first visual cameras are respectively facing the two electric clamps, and the second visual camera is connected to the box and is located on a side close to the bionic operating mechanism, and the working end of the second visual camera is facing between the two electric clamps; A multimodal sensing system, the multimodal sensing system includes an ultrasonic sensor, an infrared sensor, a stereo camera, a hyperelastic strain sensor and a wind speed and direction sensor which are arranged in the middle of the frame and are respectively connected to the controller, wherein the ultrasonic sensor and the infrared sensor are used for online and real-time perception of the distance information between the robot and the obstacle; the stereo camera is used for generating point cloud information and positioning information and monitoring abnormal intrusion information; the hyperelastic strain sensor is used for monitoring the posture of the robot; and the wind speed and direction sensor is used for providing real-time reference information for adjusting the posture of the robot.

2. The multi-mode bionic robot for autonomous maintenance of an anti-vibration hammer according to claim 1, characterized in that: The drive motor is a reduction motor, which is connected to the output shaft of the electric push rod through a bearing seat. The free end of the output shaft of the drive motor is coaxially connected to a flange end cover. The travel wheel is coaxially arranged on the output shaft of the drive motor and is located between the flange end cover and the bearing seat. The flange end cover is connected to the travel wheel through a plurality of pins.

3. The multi-mode bionic robot for autonomous maintenance of an anti-vibration hammer according to claim 2, characterized in that: A shaft sleeve located between the bearing seat and the travel wheel is coaxially arranged on the output shaft of the driving motor, and two ends of the shaft sleeve are respectively in contact with the bearing seat and the travel wheel.

4. The multi-mode bionic robot for autonomous maintenance of an anti-vibration hammer according to claim 1, characterized in that: The frame comprises a bracket, two ends of the bracket are symmetrically connected to two mutually parallel support plates, and the four rotors are connected to the bracket and are parallel to the support plates.

5. The multi-mode bionic robot for autonomous maintenance of an anti-vibration hammer according to claim 4, characterized in that: The box body is connected to one of the support plates in parallel through four connecting members, and the four connecting members are respectively connected to the four corners of the box body.

6. The multi-mode bionic robot for autonomous maintenance of an anti-vibration hammer according to claim 1, characterized in that: The arrangement direction of the two electric clamps is parallel to the arrangement direction of the walking wheels, and the two electric clamps are respectively located on both sides of the bionic operating mechanism.

7. The multi-mode bionic robot for autonomous maintenance of an anti-vibration hammer according to claim 1, characterized in that: It also includes a power supply, which is arranged in the box and connected to the controller.

8. The multi-mode bionic robot for autonomous maintenance of an anti-vibration hammer according to claim 1, characterized in that: The flying wing mechanism also includes a landing gear, and each of the rotors is coaxially connected with a landing gear.

9. The multi-mode bionic robot for autonomous maintenance of an anti-vibration hammer according to claim 1, characterized in that: Each of the first visual camera and the second visual camera is connected to the box body via a supporting rod.

10. A control method for maintaining an anti-vibration hammer on a transmission line using the multi-mode bionic robot for autonomous maintenance of an anti-vibration hammer as claimed in any one of claims 1 to 9, characterized in that: The following steps are involved: Step S1: The robot's rotor starts to enter flight mode and flies to the vicinity of the target power transmission line; Step S2: The robot lowers its flight altitude so that its traveling wheels are suspended on the target transmission line. The robot switches from the flight mode to the walking mode and inspects along the line through the walking mechanism. Step S3: During the inspection, the line condition is monitored in real time by a multi-modal sensing system, and the anti-vibration hammers on the line are inspected in turn to determine whether they are displaced or damaged; Step S4: when it is detected that the anti-vibration hammer is displaced, the two clamping claws are moved close to the target anti-vibration hammer and the two ends are clamped by contracting the electric push rod, and then the working end of the electric wrench is aligned with the fastening bolt of the anti-vibration hammer through the electric displacement table to loosen it, and then the loosened anti-vibration hammer is driven to reset to the predetermined position and then tightened, so as to realize the reset of the anti-vibration hammer; When it is detected that the anti-vibration hammer is damaged, the target anti-vibration hammer is disassembled and brought back, and the damaged anti-vibration hammer clamped by the electric clamp is replaced by a good anti-vibration hammer by the staff. Then the robot installs the anti-vibration hammer to the predetermined position according to the above steps to complete the replacement of the anti-vibration hammer. Step S5: After the inspection is completed, the robot switches from walking mode to flying mode and flies away from the transmission line, returning to the base or waiting for the next mission instruction.

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