Blocking method of blocking robot

Abstract

The invention discloses a blocking method of a blocking robot. The blocking method solves the technical problem that in the prior art, a blocking robot is prone to being stuck due to the fact that a mechanical structure is adopted to be connected with and separated from a wire clamping mechanism. The invention provides a net blocking method of a net blocking robot, which comprises the following steps that: two unmanned aerial vehicles respectively bear two net blocking robots to synchronously fly, each net blocking robot comprises a robot body and a wire clamping mechanism magnetically jointed with the robot body, and a net blocking rope is connected between the two wire clamping mechanisms respectively positioned on the two unmanned aerial vehicles; the two unmanned aerial vehicles carrying the net blocking robots are synchronously hovered on the two overhead lines, so that the walking wheels of the two robot bodies land on the two overhead lines respectively; the two net blocking robots synchronously move to designated positions on the two overhead lines through the walking mechanisms; the robot body releases the wire clamping mechanism, so that the wire clamping mechanism is clamped and fixed on the overhead line; and the two unmanned aerial vehicles respectively bear the two robot bodies to synchronously return.

Description

Technical Field

[0001] This invention relates to the field of overhead power line sealing technology, and in particular to a sealing method using a sealing robot. Background Technology

[0002] With the expansion of transmission line scale and the increasing complexity of their crossings, the task of replacing aging ground wires has become more frequent. Therefore, wire mesh sealing has become a crucial step in transmission line replacement work. However, traditional wire mesh sealing operations require workers to operate on high-altitude conductors in strong electromagnetic environments, posing significant safety risks. Furthermore, traditional wire mesh sealing operations have a long overall operation cycle, are highly constrained by site conditions, and are costly. Therefore, the emergence of wire mesh sealing robots can effectively avoid the aforementioned problems associated with traditional wire mesh sealing operations.

[0003] Currently, the wire-clamping mechanism of wire-sealing robots typically connects and separates from the robot via a mechanical structure. However, this inevitably leads to situations where the wire-clamping mechanism gets stuck on the robot and cannot be separated. Since wire-sealing robots operate on overhead power lines, once they get stuck, it not only makes rescuing the robot extremely difficult but also significantly delays the wire-sealing operation. Summary of the Invention

[0004] This invention proposes a net-sealing method for a net-sealing robot to overcome the shortcomings of existing technologies, thereby solving the technical problem that the net-sealing robot is prone to jamming due to the engagement and disengagement of mechanical structures and wire clamping mechanisms.

[0005] To achieve the above technical objectives, the present invention proposes a net-sealing robot method for net sealing, comprising the following steps: The A100 drone carries two net-sealing robots, each flying synchronously. Each robot consists of a robot body and a wire-clamping mechanism. The robot body magnetically engages with the wire-clamping mechanism, and netting ropes are connected between the two wire-clamping mechanisms on the two drones. The A200 and two drones carrying the net-sealing robots hovered synchronously on two overhead power lines, allowing the wheels of the two robots to land on the two overhead power lines respectively. The A300 and two net-sealing robots, through their walking mechanisms, each drive two drones to move synchronously to their designated positions along two overhead lines. A400: The robot body releases the magnetic clamping mechanism to free it, allowing the clamping mechanism to remain fixed to the overhead line. The A500 and two drones, each carrying one of the two robot bodies, returned synchronously.

[0006] The sealing method of the sealing robot proposed in this invention firstly achieves the connection and separation between the robot body and the clamping mechanism through magnetic bonding. The connection between the robot body and the clamping mechanism does not rely on mechanical structures, thus avoiding the possibility of the robot body and the clamping mechanism getting stuck due to interference between mechanical structures, friction, or debris in the movement gaps, greatly reducing the probability of the robot body and the clamping mechanism getting stuck. Secondly, by using two synchronously flying drones, two sealing robots can be transported to the two overhead lines in a better synchronized manner, reducing the error between the initial positions of the two sealing robots.

[0007] Preferably, a recycling step is also included: The B100 and two drones, each carrying one of the two robot bodies, fly synchronously. B200 and two drones simultaneously hovered on two overhead power lines, allowing the wheels of the two robots to land on the two overhead power lines respectively. The B300 and two robot bodies, through their walking mechanisms, simultaneously drive two drones to their designated positions along two overhead lines. B400: The robot body magnetically engages the wire clamping mechanism, releasing the mechanism from clamping the overhead line. The B500 and two drones each carried two net-sealing robots back, with the robot bodies and the wire-clamping mechanism maintaining a magnetic connection.

[0008] By employing the aforementioned technical solution, the wire clamping mechanism on two overhead lines can be retrieved using two synchronously flying drones, which can greatly improve the retrieval efficiency of the wire clamping mechanism.

[0009] Preferably, at least one end of the robot body is provided with a plurality of magnetic coupling mechanisms at intervals, and the plurality of magnetic coupling mechanisms are respectively magnetically coupled to a plurality of wire clamping mechanisms. The designated positions are set to a plurality of positions. During the deployment step, the walking wheels drive the robot body to release the wire clamping mechanisms one by one at the plurality of designated positions.

[0010] By employing the aforementioned technical solution, multiple wire clamping mechanisms are magnetically connected to at least one end of the robot body, enabling multiple sealing ropes to be fixed on two overhead lines during a single takeoff and return of the drone.

[0011] Preferably, several wire clamping mechanisms are arranged at intervals from front to back at one end of the robot body, and the robot body moves backward in the front-back direction and releases the wire clamping mechanisms in sequence from front to back.

[0012] Using the aforementioned technical solution, the robot body moves backward in the forward and backward direction, avoiding interference between the clamping mechanism holding the overhead line and the robot body's walking path.

[0013] Preferably, several clamping mechanisms are clamped at intervals on the two overhead lines, and several magnetic engagement mechanisms that magnetically engage with the clamping mechanisms are provided on one end of the robot body. The designated positions are set to multiple, and during the retrieval step, the walking wheels drive the robot body to engage with the clamping mechanisms one by one at multiple designated positions.

[0014] By adopting the aforementioned technical solution, multiple clamping mechanisms can be recovered on two overhead lines during a single takeoff and return of the drone.

[0015] Preferably, several clamping mechanisms are arranged sequentially and alternately on the overhead line from front to back. The robot body moves forward in the front-back direction and sequentially connects the several clamping mechanisms arranged on the overhead line to one end of the robot body in the order from back to front.

[0016] By adopting the aforementioned technical solution, interference between the wire clamping mechanism magnetically attached to the robot body and the wire clamping mechanism clamped on the overhead line in the forward direction is avoided.

[0017] Preferably, the two drones include a master drone and a slave drone, and the slave drone maintains the distance and relative position between itself and the master drone through master-slave control.

[0018] By employing the aforementioned technical solution and using a master-slave control method, more efficient and accurate collaborative control between the two machines is achieved. This effectively reduces the risk of asynchrony caused by the aforementioned collaborative control method and minimizes pitch errors during wiring.

[0019] Preferably, both the master drone and the slave drone are equipped with RTK modules, and the two robot bodies respectively carried on the master drone and the slave drone are positioned using the RTK modules on the master drone and the slave drone.

[0020] By adopting the aforementioned technical solution, the RTK module enables more precise positioning of the master and slave drones, improving positioning accuracy. The two robot bodies moving on the overhead line can be positioned by the RTK modules on the master and slave drones, which can greatly improve the positioning accuracy of the net sealing robot, while also saving the cost of setting up positioning modules on the net sealing robot.

[0021] Preferably, the master drone is equipped with a UW tag, the slave drone is equipped with a UW base station, and the slave drone maintains the distance and relative position with the master drone through UW ranging.

[0022] By adopting the aforementioned technical solution and using UW ranging, the slave drone can more accurately maintain the distance and relative position with the master drone, enabling the two drones to achieve more precise master-slave control and precise coordinated hovering on overhead lines.

[0023] Preferably, the two robot bodies, respectively carried by the master drone and the slave drone, calibrate their positions using UW ranging between the slave drone and the master drone.

[0024] By adopting the aforementioned technical solution and with the help of UW ranging between the slave drone and the master drone, the two net-sealing robots can move synchronously on the two overhead lines, which greatly reduces the pitch error of the net-sealing rope caused by the asynchronous operation of the net-sealing robots, and also provides a good positioning basis for the retrieval of the wire clamping mechanism.

[0025] These features and advantages of the present invention will be disclosed in detail in the following specific embodiments and accompanying drawings. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of two overhead lines and multiple designated locations in an embodiment of the present invention; Figure 2 This is a schematic diagram of two overhead lines and multiple designated locations where clamping mechanisms have been released in an embodiment of the present invention; Figure 3 This is a schematic diagram of two net-sealing robots carried by two drones in an embodiment of the present invention; Figure 4 This is a schematic diagram of the sealing robot in an embodiment of the present invention; Figure 5 This is a schematic diagram of the lifting mechanism, magnetic engagement mechanism, and wire clamping mechanism in an embodiment of the present invention; Figure 6 This is a schematic diagram of the wire clamping mechanism in the open state in an embodiment of the present invention; Figure 7 This is another schematic diagram of the wire clamping mechanism in the open state in an embodiment of the present invention; Figure 8 This is a schematic diagram of the wire clamping mechanism in a closed state in an embodiment of the present invention; Figure 9 This is another schematic diagram of the wire clamping mechanism in a closed state in an embodiment of the present invention.

[0027] Figure label: 10. Overhead power lines; 100. Sealing robot; 101. First sealing robot; 102. Second sealing robot; 110. Walking mechanism; 111. Housing; 112. Walking driver; 113. Walking wheel; 120. Magnetic connection mechanism; 121. Magnetic base; 122. Magnetic component. 200, wire clamping mechanism; 210, connecting seat; 211, top plate; 212, magnetic suction element; 220, gripper; 221, first gripper; 221a, locking groove; 222, second gripper; 222a, limiting groove; 223, clamping groove; 230, first locking element; 231, first locking body; 231a, locking end; 232, extension rod; 232a, abutting end; 240, second locking element; 241, limiting end; 242, guide arm; 250, first spring; 260, second spring. 300. Lifting mechanism; 310. Fixed base; 311. Slide rail; 312. Slider; 320. Lifting driver. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be explained and described below with reference to the accompanying drawings. However, the following embodiments are only preferred embodiments of the present invention and not all of them. Other embodiments obtained by those skilled in the art based on the embodiments in the implementation methods without creative effort are all within the protection scope of the present invention.

[0029] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0030] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" or "a number" means two or more, unless otherwise expressly defined.

[0031] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0032] like Figures 1 to 3 As shown in the embodiment of the present invention, the net-sealing robot sealing method includes a deployment step and a retrieval step.

[0033] The specific steps for delivery are as follows: Two drones, each carrying one of the two net-sealing robots, fly synchronously. Each net-sealing robot consists of a robot body and a wire-clamping mechanism 200. The robot body magnetically engages with the wire-clamping mechanism 200, and netting ropes are connected between the two wire-clamping mechanisms 200 on each of the two drones. A200 and two drones carrying the net-sealing robots hovered synchronously on the two overhead lines 10, allowing the wheels of the two robots to land on the two overhead lines 10 respectively. The A300 and two net-sealing robots, through their walking mechanisms, respectively drive two drones to move synchronously to designated positions along two overhead lines 10. A400, the robot body releases the magnetic engagement of the wire clamping mechanism 200 to release the wire clamping mechanism 200, so that the wire clamping mechanism 200 is clamped and fixed on the overhead line 10. The A500 and two drones, each carrying one of the two robot bodies, returned synchronously.

[0034] During the deployment process, the drone carries the net-sealing robot and transports it to the overhead line 10, maintaining the robot's balance as it moves along the line. The net-sealing operation is completed after multiple deployments of the drone-carried net-sealing robot.

[0035] After the transmission line replacement work is completed, the grid sealing task is finished. The clamping mechanism 200 on the overhead line 10 needs to be retrieved. The specific retrieval steps in the grid sealing method are as follows: The B100 and two drones, each carrying one of the two robot bodies, fly synchronously. B200 and two drones simultaneously hovered on two overhead lines 10, allowing the wheels of the two robot bodies to land on the two overhead lines 10 respectively. B300: The two robot bodies, through their walking mechanisms, drive two drones to move synchronously to designated positions along two overhead lines 10. B400, the robot body magnetically engages with the wire clamping mechanism 200, and releases the wire clamping mechanism 200 from clamping the overhead line 10. The B500 and two drones respectively carried two net-sealing robots back, with the robot body and the wire clamping mechanism 200 maintaining a magnetic connection.

[0036] During the recovery process, the drone carries the robot body and flies it to the overhead line 10, and maintains the balance of the net-sealing robot while the robot body walks on the overhead line 10.

[0037] The sealing method for the sealing robot proposed in this invention firstly achieves the engagement and separation of the robot body and the clamping mechanism through magnetic coupling. Since the engagement of the robot body and the clamping mechanism does not rely on mechanical structures, it avoids jamming caused by interference between mechanical structures, friction, or debris in the movement gaps, significantly reducing the probability of jamming. Secondly, two synchronously flying drones enable the two sealing robots to be transported synchronously to the two overhead lines 10, reducing the error between the initial positions of the two sealing robots. Finally, the two synchronously flying drones also achieve the retrieval of the clamping mechanism on the two overhead lines 10, greatly improving the retrieval efficiency of the clamping mechanism.

[0038] During the deployment process, three magnetic coupling mechanisms are provided on each of the two ends of the robot body. Each magnetic coupling mechanism is magnetically coupled with a wire clamping mechanism 200. There are six designated positions. The walking wheels drive the robot body to release the wire clamping mechanisms 200 one by one at the six designated positions.

[0039] Specifically, the network blocking robots include the first network blocking robot 101 and the second network blocking robot 102.

[0040] The first wire-clamping robot 101 is equipped with wire-clamping mechanisms a1, b1, c1, d1, e1, and f1.

[0041] The wire clamping mechanisms a1, b1, and c1 are arranged sequentially at the front end of the first sealing robot 101, and the wire clamping mechanisms d1, e1, and f1 are arranged sequentially at the rear end of the first sealing robot 101.

[0042] The second wire-sealing robot 102 is equipped with wire-clamping mechanisms a2, b2, c2, d2, e2, and f2.

[0043] The wire clamping mechanisms a2, b2, and c2 are arranged sequentially at the front end of the second sealing robot 102, while the wire clamping mechanisms d2, e2, and f2 are arranged sequentially at the rear end of the second sealing robot 102.

[0044] Accordingly, the designated positions are designated as A, B, C, D, E, and F from front to back. Corresponding to the two overhead lines 10, one overhead line 10 has positions A1, B1, C1, D1, E1, and F1, and the other overhead line 10 has positions A2, B2, C2, D2, E2, and F2.

[0045] When deploying the sealing ropes, the first sealing robot 101 and the second sealing robot 102 land on the two overhead power lines 10 respectively. As the robots move, the clamping mechanism a1 of the first sealing robot 101 aligns with position A1, and the clamping mechanism a2 of the second sealing robot 102 aligns with position A2. The robots then release clamping mechanisms b1 and b2 respectively. Continuing to move, the clamping mechanism b1 of the first sealing robot 101 aligns with position B1, and the clamping mechanism b2 of the second sealing robot 102 aligns with position B2. The robots then release clamping mechanisms b1 and b2 again. After releasing all three clamping mechanisms at one end, the robots release the three clamping mechanisms at the other end, ultimately securing the six sets of sealing ropes between the two overhead power lines 10.

[0046] By magnetically engaging multiple wire clamping mechanisms at at least one end of the robot body, multiple netting ropes can be secured to two overhead lines during a single takeoff and return of the drone.

[0047] The wire clamping mechanisms a1, b1, and c1 are arranged sequentially at intervals from front to back at one end of the first sealing robot 101. While releasing the wire clamping mechanisms a1, b1, and c1 in sequence, the first sealing robot 101 moves backward and releases the clamping mechanisms in the same order from front to back. After releasing all the clamping mechanisms at one end, the first sealing robot 101 moves to position F1, placing the wire clamping mechanism f1 in position F1. The first sealing robot 101 then moves backward from position F1 to position D1, releasing the wire clamping mechanisms f1, e1, and d1 in the same order from front to back.

[0048] The process of the second sealing robot 102 releasing the wire clamping mechanism can be referred to the process of the first sealing robot 101 releasing the wire clamping mechanism.

[0049] The robot moves backward in the forward and backward direction, avoiding interference between the clamping mechanism holding the overhead line 10 and the robot's walking path.

[0050] The sealing robot can also be equipped with other numbers of magnetic coupling mechanisms, such as four or five.

[0051] During the recycling process, several wire clamping mechanisms are clamped at intervals on the two overhead lines 10. Several magnetic engagement mechanisms that magnetically engage with the clamping mechanisms are provided on one end of the robot body. Multiple designated positions are set, and the walking wheels drive the robot body to engage with the wire clamping mechanisms one by one at multiple designated positions.

[0052] This allows a single takeoff and return of the drone to recover multiple clamping mechanisms on two overhead lines.

[0053] When retrieving the wire clamping mechanism, the drone lands the robot body between positions C and D. The robot body moves forward in the front-back direction and sequentially engages several wire clamping mechanisms arranged on the overhead line 10 to one end of the robot body in a back-to-foreign order.

[0054] After engaging the three clamping mechanisms on one side, the robot moves to the other side to engage the other three clamping mechanisms.

[0055] This avoids interference between the wire clamping mechanism magnetically attached to the robot body and the wire clamping mechanism clamped on the overhead line 10 in the forward direction.

[0056] To improve the symmetry of the flight of the two drones and the symmetry of the two net-sealing robots landing on the overhead line 10, the two drones include a master drone and a slave drone. Through master-slave control, the slave drone maintains the distance and relative position between itself and the master drone.

[0057] After setting the master-slave relationship and relative position between the master drone and the slave drone, the pilot controls the master drone to take off, and the slave drone takes off accordingly. During the flight, the slave drone maintains its distance and relative position from the master drone.

[0058] By employing a master-slave control method, more efficient and accurate collaborative control between the two machines is achieved. This effectively reduces the risk of asynchrony caused by the aforementioned collaborative control methods and minimizes pitch errors during wiring.

[0059] Both the master and slave drones are equipped with RTK modules.

[0060] By using the RTK module, more accurate positioning of the master and slave drones can be achieved, thus improving positioning accuracy.

[0061] The two robot bodies, respectively carried by the master drone and the slave drone, are positioned using RTK modules on the master drone and the slave drone.

[0062] The two robot bodies that walk on the overhead line 10 are positioned by the RTK modules on the master and slave drones, which can greatly improve the positioning accuracy of the net sealing robot and save the cost of setting up positioning modules on the net sealing robot.

[0063] The master drone is equipped with a UW tag, and the slave drone is equipped with a UW base station. The slave drone maintains the distance and relative position with the master drone through UW ranging.

[0064] By using UW ranging, the slave drone can more accurately maintain the distance and relative position with the master drone, enabling the two drones to achieve more precise master-slave control and precise coordinated hovering on the overhead line 10.

[0065] The two robot bodies, respectively carried by the master drone and the slave drone, calibrate their positions using UW ranging between the slave drone and the master drone.

[0066] With the help of UW ranging between the slave drone and the master drone, the two net-sealing robots can walk synchronously on the two overhead lines 10, which greatly reduces the pitch error of the net-sealing rope caused by the asynchronous operation of the net-sealing robots, and also provides a good positioning basis for the retrieval of the wire clamping mechanism.

[0067] The net-sealing robot proposed in this embodiment of the invention employs the following technical solution for the net-sealing robot.

[0068] like Figures 4 to 9 As shown, the wire-sealing robot includes a robot body and a wire-clamping mechanism 200. The robot body includes a walking mechanism 110 and a magnetic coupling mechanism 120. The walking mechanism 110 includes a housing 111, a walking driver 112, and walking wheels 113. The walking driver 112 drives the walking wheels 113 to walk on the overhead line. The magnetic coupling mechanism 120 includes a magnetic base 121, a magnetic element 122 mounted on the magnetic base 121, and a coil wound on the magnetic element 122. The coil typically generates a magnetic field opposite to the magnetic field of the magnetic element 122 itself, so that the magnetism of the energized coil and the magnetic element 122 cancels each other out.

[0069] The wire clamping mechanism 200 includes a connecting base 210 and clamping claws 220 for clamping wires. The clamping claws 220 include a first clamping body 221 and a second clamping body 222 that open and close synchronously. A magnetic attractor 212 is movably disposed on the connecting base 210. When the coil is de-energized, the magnetic attractor 212 is attracted by the magnetic attractor 122 to open the first clamping body 221 and the second clamping body 222, thereby releasing the overhead line. When the coil is energized, the magnetic attractor 212 is released by the magnetic attractor 122 to close the first clamping body 221 and the second clamping body 222, thereby clamping the wire.

[0070] The magnetic attractor 212 comprises an iron component with a martensitic metallographic structure. The magnetic attractor 212 is configured in a disc shape.

[0071] The magnetic coupling mechanism 120 includes a permanent magnet and a coil wound on the permanent magnet. When the coil is energized, it cancels the magnetic field of the permanent magnet and releases the magnetic attractor 212. When the coil is de-energized, it causes the permanent magnet to attract the magnetic attractor 212.

[0072] The clamping mechanism 200 also includes a first locking member 230 and a second locking member 240. The first clamping body 221 and the second clamping body 222 have a tendency to move towards each other. The first locking member 230 locks and engages with the first clamping body 221 to lock the jaw 220 in the open state. The second locking member 240 locks and engages with the second clamping body 222 to lock the jaw 220 in the closed state. The first locking member 230 is located between the first clamping body 221 and the second clamping body 222. The first locking member 230 abuts against the overhead line to release the lock on the first clamping body 221. The magnetic member 122 attracts the metal member so that the second locking member 240 releases the lock on the second clamping body 222.

[0073] The first clamp 221 and the second clamp 222 are respectively provided with clamping grooves 223 for clamping the overhead line 10 on their opposite sides.

[0074] The first locking member 230 is slidably installed in the connecting seat 210. The first locking member 230 is provided with an abutting end 232a and a locking end 231a. The first locking member 230 is elastically loaded and has a tendency to move the locking end 231a closer to the first clamp 221. The abutting end 232a is located between the first clamp 221 and the second clamp 222. The abutting end 232a abuts against the wire and rises relative to the connecting seat 210 so that the locking end 231a disengages from the first clamp 221. The abutting end 232a disengages from the wire so that the first locking member 230 locks with the first clamp 221.

[0075] Specifically, the first locking member 230 can slide in the connecting seat 210. A pre-tensioned first spring 250 is provided above the first locking member 230, so that the locking end 231a of the first locking member tends to move towards the first clamping body 221. The first clamping body 221 is provided with a locking groove 221a. The first locking member 230 includes a first locking body 231 and an extension rod 232 connected to the first locking body 231. The end of the first locking body 231 extending towards the first clamping body 221 constitutes the locking end 231a, and the end of the extension rod 232 extending towards the overhead line constitutes the abutment end 232a.

[0076] When the wire clamping mechanism 200 is engaged with the support frame and the clamp 220 is opened, the locking end 231a is inserted into the locking groove 221a to restrict the first clamp 221 from closing, so that the clamp remains in the open state, and the extension rod 232 is located between the first clamp 221 and the second clamp 222.

[0077] When the clamping mechanism 200 is released, the abutting end 232a first contacts the overhead line, causing the first locking member 230 to be pushed upward by the overhead line. The first spring 250 is then compressed, and the locking end 231a disengages from the locking groove 221a, thereby the first clamp 221 and the second clamp 222 close together and clamp onto the overhead line.

[0078] The extension rod 232 can also be used to position the relative position of the clamping slot and the overhead line.

[0079] When the clamp is manually opened, the first spring 250 pushes the locking end 231a into the locking groove 221a, so that the clamp can be locked in the open state.

[0080] The abutment end 232a is a flexible abutment block located at the end of the extension rod 232. The side of the flexible abutment block that presses against the overhead line is constructed in an arc shape to increase the contact area and movement resistance between the abutment end 232a and the overhead line, so that the clamping mechanism 200 can clamp the overhead line more stably. The flexible abutment block is made of rubber.

[0081] The first clamp 221 and the second clamp 222 are rotatably mounted on the connecting seat 210. The hinge ends of the first clamp 221 and the second clamp 222 are provided with meshing gears. The first clamp 221 and the second clamp 222 are synchronously closed or separated by the gears. The first clamp 221 is elastically loaded and has a rotational tendency to close towards the second clamp 222.

[0082] The first clamp 221 is provided with a pre-tightened torsion spring. The two ends of the torsion spring are pre-tightened on the first clamp 221 and the connecting seat 210, so that the first clamp 221 is elastically loaded and has a rotational tendency to close towards the second clamp 222.

[0083] The magnetic suction member 212 can be lifted and installed on the top of the connecting base 210. The second locking member 240 is connected to the magnetic suction member 212. The second locking member 240 is elastically loaded and has a tendency to move closer to the second clamping body 222. The magnetic member 122 attracts the magnetic suction member 212 so that the second locking member 240 is disengaged from the second clamping body 222. The magnetic member 122 releases the magnetic suction member 212 so that the second locking member 240 is locked with the second clamping body 222 under the action of elastic force.

[0084] Specifically, a pre-tensioned second spring 260 is provided between the second locking member 240 and the connecting seat 210, so that the second locking member 240 tends to move closer to the second clamp 222.

[0085] The top of the connecting seat 210 is provided with a top plate 211, the magnetic suction member 212 is installed above the top plate 211, and the second locking member 240 is installed below the top plate 211. The second locking member 240 is connected to the magnetic suction member 212 through the guide arm 242. The top plate 211 is provided with a guide groove that slides with the guide arm 242, so that the magnetic suction member 212 can be raised and lowered relative to the connecting seat 210 and drives the second locking member 240 to move during the raising and lowering.

[0086] The second clamping body 222 is provided with a limiting groove 222a, and the second locking member 240 includes a limiting end 241 that cooperates with the limiting groove 222a. When the first clamping body 221 and the second clamping body 222 are in the closed state, the magnetic engagement mechanism 120 releases the magnetic suction member 212, and under the action of the elastic force of the second spring 260, the limiting end 241 of the second locking member 240 inserts into the limiting groove 222a to lock the second clamping body 222, so that the gripper 220 remains in the closed state.

[0087] Because the magnetic 212 is adjustable, when the wire clamping mechanism 200 is retracted, the magnetic force of the magnetic engagement mechanism 120 causes the magnetic 212 to move upward, and the second locking member 240 moves upward to unlock the second clamp 222, and the second clamp 222 and the first clamp 221 close together.

[0088] When the wire clamping mechanism 200 is retracted, the gripper 220 engages with the magnetic engagement mechanism 120, and the second locking member 240 releases the lock on the gripper 220. The first gripper 220 and the second gripper 220 remain clamped on the overhead line under the action of the torsion spring. As the drone drives the sealing robot to rise, the overhead line generates an outward pushing force on the clamping groove, causing the first gripper 220 and the second gripper 220 to open, thereby disengaging the gripper 220 from the overhead line.

[0089] The robot body also includes a lifting mechanism 300, which includes a fixed base 310 and a lifting driver 320. The fixed base 310 is mounted on the end of the housing 111, and a slide rail 311 and a slider 312 are provided on the fixed base 310. The lifting driver 320 drives the slider 312 to move up and down along the slide rail 311. A magnetic holder 121 is mounted on the slider 312, making the distance between the magnetic engagement mechanism 120 and the overhead line adjustable.

[0090] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Those skilled in the art should understand that the present invention includes, but is not limited to, the contents described in the accompanying drawings and the specific embodiments above. Any modifications that do not depart from the functional and structural principles of the present invention will be included within the scope of the claims.

Claims

1. A method for sealing a net using a sealing robot, characterized in that, Including the deployment steps: The A100 drone carries two net-sealing robots, each flying synchronously. Each robot consists of a robot body and a wire-clamping mechanism. The robot body magnetically engages with the wire-clamping mechanism, and netting ropes are connected between the two wire-clamping mechanisms on the two drones. The A200 and two drones carrying the net-sealing robots hovered synchronously on two overhead power lines, allowing the wheels of the two robots to land on the two overhead power lines respectively. The A300 and two net-sealing robots, through their walking mechanisms, each drive two drones to move synchronously to their designated positions along two overhead lines. A400: The robot body releases the magnetic clamping mechanism to free it, allowing the clamping mechanism to remain fixed to the overhead line. The A500 and two drones, each carrying one of the two robot bodies, returned synchronously.

2. The net sealing method as described in claim 1, characterized in that, It also includes a recycling step: The B100 and two drones, each carrying one of the two robot bodies, fly synchronously. B200 and two drones simultaneously hovered on two overhead power lines, allowing the wheels of the two robots to land on the two overhead power lines respectively. The B300 and two robot bodies, through their walking mechanisms, simultaneously drive two drones to their designated positions along two overhead lines. B400: The robot body magnetically engages the wire clamping mechanism, releasing the mechanism from clamping the overhead line. The B500 and two drones each carried two net-sealing robots back, with the robot bodies and the wire-clamping mechanism maintaining a magnetic connection.

3. The net sealing method as described in claim 1, characterized in that, The robot body has at least one end provided with a plurality of magnetic coupling mechanisms at intervals, and the plurality of magnetic coupling mechanisms are respectively magnetically coupled to a plurality of wire clamping mechanisms. The designated positions are set to a plurality of positions. During the deployment step, the walking wheels drive the robot body to release the wire clamping mechanisms one by one at the plurality of designated positions.

4. The net sealing method as described in claim 3, characterized in that, Several wire clamping mechanisms are arranged at intervals from front to back at one end of the robot body. The robot body moves backward in the front-back direction and releases the wire clamping mechanisms in sequence from front to back.

5. The net sealing method as described in claim 2, characterized in that, Two overhead lines are clamped with several clamping mechanisms at intervals. One end of the robot body is provided with several magnetic engagement mechanisms that are magnetically engaged with the clamping mechanisms. The designated positions are set to multiple. During the retrieval step, the walking wheels drive the robot body to engage the clamping mechanisms one by one at multiple designated positions.

6. The net sealing method as described in claim 5, characterized in that, Several clamping mechanisms are arranged sequentially and alternately on the overhead line from front to back. The robot moves forward in the front-back direction and connects the clamping mechanisms arranged on the overhead line to one end of the robot body in a sequence from back to front.

7. The net sealing method as described in claim 1, characterized in that, The two drones consist of a master drone and a slave drone. Through master-slave control, the slave drone maintains the distance and relative position between itself and the master drone.

8. The net sealing method as described in claim 7, characterized in that, Both the master drone and the slave drone are equipped with RTK modules. The two robot bodies, respectively carried on the master drone and the slave drone, are positioned using the RTK modules on the master drone and the slave drone.

9. The net sealing method as described in claim 7, characterized in that, The master drone is equipped with a UWB tag, and the slave drone is equipped with a UWB base station. The slave drone maintains the distance and relative position with the master drone through UWB ranging.

10. The net sealing method as described in claim 9, characterized in that, The two robot bodies, respectively carried by the master drone and the slave drone, calibrate their positions using UWB ranging between the slave drone and the master drone.

Images