An aerial work robot, a work method, and a collaboration system, a collaboration method

Abstract

The application discloses a high-altitude operation robot, an operation method, a cooperation system, and a cooperation method. The high-altitude operation robot comprises a mechanical arm and a bolt assembly tool, and the mechanical arm drives the bolt assembly tool to move. The bolt assembly tool comprises a base, bolt clamps, a turnover seat, and a power mechanism which are installed on the base. The turnover seat is provided with a sleeve mechanism at one end away from the base. The power mechanism can drive the sleeve mechanism to turn over and horizontally move. The robot replaces manual operation, improves installation efficiency and operation safety, and realizes turnover and translation of the sleeve mechanism through a set of power mechanisms. The nut inside the sleeve mechanism is screwed onto the bolt, which not only reduces the weight of the bolt assembly tool and the high-altitude operation robot, reduces the requirement for the load capacity of the mechanical arm, but also reduces the volume of the bolt assembly tool.

Description

Technical Field

[0001] This invention relates to the field of high-altitude installation technology, specifically to a high-altitude operation robot, operation method and collaborative system, and collaborative method. Background Technology

[0002] With rising labor costs and increasing demands for safe production, various high-altitude work equipment has emerged to replace simple, repetitive manual labor. For example, steel tower structures are multi-functional steel structures widely used in communications, power, lightning protection, and decoration. Steel towers primarily use angle steel, round steel, or steel pipes as tower column materials, and are mostly connected with coarse bolts, possessing characteristics such as strong wind resistance and long corrosion resistance. Of course, some other high-altitude structures, such as alloy structures, also primarily use bolt connections to ensure their stability.

[0003] Especially in the power system, the stability and safety of electricity are the basic guarantee for promoting the development of all industries. In my country, there are a large number of transmission steel towers, which are widely distributed. By installing insulators on transmission angle steel towers, the insulation level of overhead lines of the distribution network can be improved, effectively avoiding accidents such as line tripping and broken insulated wires under lightning induced overvoltage, and improving the reliability of line operation.

[0004] Bolt assembly is a crucial and complex step in insulator installation, mainly involving two steps: bolt drilling and nut tightening. It requires the following two actions to complete:

[0005] Action 1: Nut tightening mechanism flips: Before the drilling operation, the nut tightening mechanism flips down to ensure that there is no obstruction in front of the bolt during the bolt hole finding and drilling process. After the bolt is drilled, the nut tightening mechanism flips up to make the nut and bolt coaxial, in preparation for the next step of selecting the nut into the bolt. Action 2: Nut tightening mechanism translation: After the piercing operation, the nut tightening mechanism translates to screw the nut into the designated position of the bolt.

[0006] In addition, after the nut is tightened in place, the tool needs to be separated from the nut. This requires the nut tightening mechanism to slide in the opposite direction first and then flip down, meaning that the reverse stroke can also be achieved using this mechanism.

[0007] Due to the nature and context of high-altitude operations, in order to reduce the weight of the robot, lower the load capacity requirements of the robotic arm, and reduce the size of the end effector, the two actions of the nut tightening mechanism should ideally be completed by only one drive. This further increases the design difficulty of the nut tightening mechanism, and there is an urgent need for a mechanism that uses a single drive to complete the flipping and translation actions of the nut tightening mechanism to solve the above problems.

[0008] Chinese invention patent document CN121267590A discloses a robot for installing bolts and double nuts on angle steel towers. The robot includes a climbing platform that crawls along the angle steel tower, with a feeding device fixed to the platform and moving synchronously with it. A robotic arm is also fixed to the climbing platform, and a fastening device is fixed to the drive end of the robotic arm. The feeding device is located within the robotic arm's range of motion. The fastening device includes a fixed base fixed to the robotic arm, with a guide rail vertically mounted on the fixed base. Both the bolt fastening base and the nut fastening base slide against the guide rail. Nut fixing sleeves and bolt fixing sleeves are respectively arranged on the bolt fastening base and the nut fastening base, coaxial and with their openings facing each other. This invention can achieve continuous fastening of bolts and double nuts at multiple bolt holes on the flange of the angle steel tower in a single tower climbing operation, resulting in high installation efficiency.

[0009] Chinese invention patent document CN119328492A discloses a method for installing bolts through holes in angle steel towers. Through the autonomous navigation of an installation robot and the flexible operation of a robotic arm, the method achieves rapid positioning and removal of bolts and nuts, reducing the risks associated with manual climbing and operation. The precise control of the robotic arm ensures accurate bolt insertion and initial positioning. Subsequently, the use of impact tightening combined with intermittent hammering technology not only strengthens the fastening effect but also effectively eliminates the gaps between the angle steel sections, preventing bolt loosening. The entire process is highly automated, reducing human error and improving installation quality and work safety.

[0010] However, the aforementioned existing technologies all use multiple drive mechanisms for bolt assembly operations, which cannot reduce the weight of the robot, lower the load capacity requirements of the robotic arm, or reduce the size of the end effector. Summary of the Invention

[0011] The technical problem to be solved by this invention is how to improve installation efficiency and operational safety, reduce the weight of the robot, reduce the load capacity requirements of the robotic arm, and reduce the size of the end effector.

[0012] To solve the above-mentioned technical problems, the present invention provides the following technical solution: A high-altitude operation robot includes a robotic arm and a bolt assembly tool, wherein the robotic arm drives the bolt assembly tool to move; The bolt assembly tool includes a base and bolt clamps, a flipping seat, and a power mechanism mounted on the base. The flipping seat has a sleeve mechanism at the end away from the base. The power mechanism can drive the sleeve mechanism to flip and can drive the sleeve mechanism to move horizontally.

[0013] This robot not only automates the assembly of bolts and nuts through a sleeve mechanism, replacing manual labor and improving installation efficiency and operational safety, but also achieves the flipping and translation of the sleeve mechanism with only one power mechanism, tightening the nut inside onto the bolt. This not only reduces the weight of the bolt assembly tools and the high-altitude operation robot, lowers the load capacity requirements of the robotic arm, but also reduces the size of the bolt assembly tools.

[0014] Preferably, when the central axis of the sleeve mechanism is coaxial with the clamping center of the bolt jaws, the power mechanism can drive the sleeve mechanism to move horizontally.

[0015] Preferably, the tilting seat is connected to the base via a rotating shaft, and the output end of the power mechanism is connected to the rotating shaft and can drive the rotating shaft to rotate and move horizontally on the base.

[0016] Preferably, the base is provided with two sets of first sliding grooves, and the end of the rotating shaft away from the flipping seat is set on the first sliding groove, so that the rotating shaft can rotate and move horizontally within the first sliding groove.

[0017] Preferably, a tension spring is provided on the base, with one end of the tension spring fixed to the base and the other end connected to a rotating shaft. When the rotating shaft rotates on the base, the tension spring is in its initial state, and when the rotating shaft moves horizontally on the base, the tension spring is in its stretched state after the initial state.

[0018] Preferably, the power mechanism includes a first electric push rod, a sliding rack, and a gear. The first electric push rod is mounted on a base, and the sliding rack connected to the output end of the first electric push rod is mounted on the base and can move horizontally. The gear meshing with the sliding rack is fixed on a rotating shaft. The horizontal movement of the sliding rack drives the gear to rotate and move horizontally, thereby driving the rotating shaft to rotate and move horizontally.

[0019] Preferably, a first inclined surface is provided at the end of the sliding rack away from the first electric push rod, and a second inclined surface is provided on the flipping seat. When the central axis of the sleeve mechanism is flipped to be coaxial with the clamping center of the bolt claw, the second inclined surface is in contact with the first inclined surface.

[0020] Preferably, the base is provided with two sets of second sliding grooves, and the two ends of the sliding rack are respectively slidably disposed on the second sliding grooves.

[0021] Preferably, the jaws of the bolt clamp are provided with a mating surface that engages with the bolt head.

[0022] Preferably, a connecting seat is also fixed on the base.

[0023] Preferably, the sleeve mechanism includes a nut tightening motor and a sleeve fixed on the flipping seat. When the central axis of the sleeve is flipped to be coaxial with the clamping center of the bolt jaws, the power mechanism can drive the nut tightening motor and the sleeve to move horizontally. The nut tightening motor is used to tighten the nut inside the sleeve.

[0024] Preferably, the sleeve includes a sleeve body, a compression spring, and a nut spring. The sleeve body is rotatably mounted on a flip seat and connected to the output end of a nut tightening motor. Multiple sets of compression springs are evenly distributed around the inner circumference of the sleeve body. The nut spring is movable along the axial direction of the sleeve body and is mounted inside the sleeve body. One end of the compression spring is fixed inside the sleeve body, and the other end is connected to the nut spring.

[0025] The compression spring can adjust the error of the two linked degrees of freedom, preventing the rigid connection from causing jamming. At the same time, the presence of the compression spring can provide preload force when the nut is screwed onto the bolt, making it easier to screw in.

[0026] Preferably, the end face of the nut spring is always flush with the circumferential surface of the sleeve body.

[0027] Preferably, the bolt assembly tool further includes a hole-finding mechanism, which includes a laser and a vision camera. The laser is mounted on the jaw end of the bolt clamp, and the vision camera is mounted on the base. It is used to acquire the position of the mounting hole and process the image. The laser surface emitted by the laser is located on the horizontal central axis of the jaw end of the bolt clamp, and the vertical center line displayed in the vision camera is located on the vertical central axis of the jaw end of the bolt clamp.

[0028] The vertical position of the bolt is determined by a vision camera, and the laser emitted by the laser is simultaneously displayed as a horizontal laser line in the vision camera's view. The horizontal position during the drilling process is adjusted using this laser line. When the vertical center line displayed in the vision camera's view coincides with the calculated vertical center line, and the horizontal laser line displayed in the vision camera's view coincides with the calculated horizontal center line, the bolt assembly tool can quickly perform hole-finding operations by adjusting these two degrees of freedom, ensuring the efficiency and accuracy of the bolt assembly tool in hole alignment.

[0029] Preferably, the flip-up seat is equipped with an observation camera for observing whether the nut is tightened.

[0030] Preferably, it also includes a work platform, with the end of the robotic arm away from the bolt assembly tool hinged to the work platform; The working platform includes a sliding mechanism and a clamping mechanism mounted on the sliding mechanism. The sliding mechanism can move on the angle steel, and the clamping mechanism is used to clamp the angle steel.

[0031] Preferably, the sliding mechanism includes a sliding platform, a sliding motor, a driving wheel, and a driven wheel. The driving wheel is fixed at one end of the bottom of the sliding platform, and the driven wheel is fixed at the other end. The output end of the sliding motor fixed on the sliding platform is connected to the driving wheel, and one end of the robotic arm is fixed on the sliding platform.

[0032] Preferably, the sliding platform is provided with first guide forks on both sides parallel to its sliding direction, and the first guide forks are in the shape of a downward-opening figure eight.

[0033] Preferably, a platform-aligned camera is fixed on one of the first guide forks.

[0034] Preferably, the sliding platform is provided with second guide forks on both sides perpendicular to its sliding direction. The second guide forks are in the shape of an upward-opening figure eight, and electromagnetic pins are provided on the second guide forks.

[0035] Preferably, multiple proximity switches are provided at the bottom of the sliding platform.

[0036] Preferably, the clamping mechanism includes a mounting base plate, slide rails, clamping racks, clamping wheel frames, clamping wheels, a clamping motor, and a clamping gear. The mounting base plate is fixed on the sliding mechanism. Two sets of parallel slide rails perpendicular to the sliding direction of the sliding mechanism are fixed on the mounting base plate. Each set of slide rails is provided with a sliding clamping rack. The opposite ends of the two sets of clamping racks are connected to a clamping wheel frame. The clamping wheel frame is provided with a clamping wheel for clamping angle steel and capable of rotating on the clamping wheel frame. The clamping motor is fixed on the mounting base plate. The output end of the clamping motor is connected to the clamping gear. The clamping gear is located between the two sets of clamping racks and meshes with the two sets of clamping racks.

[0037] Preferably, the working platform further includes a lifting mechanism mounted on the sliding mechanism. The lifting mechanism includes a reel seat, a reel, guide wheels, a take-up motor, a lifting belt, a buckle, and a second electric push rod. The reel seat is fixed on the sliding mechanism and has a rotatable reel and guide wheels. The output end of the take-up motor, which is fixed on the sliding mechanism, is connected to the reel. One end of the lifting belt is wound around the reel, and the other end extends out of the sliding mechanism after being guided by the guide wheels and is connected to the buckle for engaging the insulator. The second electric push rod is fixed at the bottom of the sliding mechanism to achieve separation of the buckle from the insulator.

[0038] By coordinating the sliding mechanism, clamping mechanism, and lifting mechanism, the robot can move and fix itself on the angle steel, as well as lift and install the insulator. During the insulator installation process, the robot arm drives the bolt assembly tool to move, thus avoiding obstacles during insulator installation and ensuring that the nut in the sleeve mechanism can be accurately installed on the bolt on the bolt clamp.

[0039] Preferably, the lifting mechanism further includes a guide block welded between the two sets of angle steel. The guide block includes a fixed plate and a guide plate. The two sets of fixed plates are arranged in parallel and welded vertically between the two sets of angle steel. The top of the two sets of guide plates is welded between the two sets of fixed plates, and the bottom is set towards the bottom of the angle steel and expands outward in a trumpet shape.

[0040] The guide block ensures that the insulator's mounting end will not wobble after entering between the two sets of fixing plates, thereby ensuring that the mounting holes on the insulator's mounting end and the mounting holes on the angle steel are precisely concentric and meet the installation and docking requirements.

[0041] Preferably, the spacing between the two sets of fixing plates is the same as the width of the insulator mounting end.

[0042] Preferably, the present invention also provides a working method for a high-altitude work robot, wherein the robotic arm drives the bolt assembly tool to move and causes the bolt on the bolt gripper to pass through the mounting hole. When the power mechanism drives the central axis of the sleeve mechanism to rotate to be coaxial with the clamping center of the bolt gripper, the power mechanism is then driven to drive the sleeve mechanism to move horizontally in the direction of the bolt gripper, so that the nut in the sleeve mechanism is installed on the bolt on the bolt gripper. After the installation is completed, the power mechanism is driven to drive the flipping seat to move horizontally in the opposite direction. After the sleeve mechanism is disengaged from the bolt, the power mechanism drives the flipping seat to rotate back to the initial position, and the bolt gripper opens and separates from the bolt.

[0043] Preferably, the bolt assembly tool further includes a hole-finding mechanism, which comprises a laser and a vision camera. The laser is mounted on the jaw end of the bolt clamp, and the vision camera is mounted on the base. It is used to acquire the position of the mounting hole and process the image. The laser beam emitted by the laser is positioned on the horizontal central axis of the jaw end of the bolt clamp, and the vertical center line displayed in the vision camera is positioned on the vertical central axis of the jaw end of the bolt clamp. The specific hole-finding method is as follows: The robotic arm drives the bolt assembly tool to move vertically, so that the laser surface emitted by the laser is at the horizontal center of the mounting hole. The robotic arm also drives the bolt assembly tool to move horizontally, so that the vertical center line of the vision camera is at the vertical center of the mounting hole. When the vision camera shows that the laser surface emitted by the laser is at the horizontal center of the mounting hole and the vertical center line of the vision camera is at the vertical center of the mounting hole, the hole finding operation is achieved.

[0044] Preferably, the aerial work robot also includes a work platform, with the end of the robotic arm away from the bolt assembly tool hinged to the work platform; The working platform is equipped with a lifting mechanism, which includes a reel seat, a reel, guide wheels, a take-up motor, a lifting belt, a buckle, a second electric push rod, and a guide block. The reel seat is fixed to the working platform and has a rotatable reel and guide wheels. The output end of the take-up motor, fixed to the working platform, is connected to the reel. One end of the lifting belt is wound around the reel, and the other end extends out of the working platform and is connected to the buckle after being guided by the guide wheels. The second electric push rod is fixed to the bottom of the working platform. The guide block is welded between two sets of angle steel. The guide block includes a fixed plate and a guide plate. The two sets of fixed plates are arranged parallel to each other and welded perpendicularly between the two sets of angle steel. The tops of the two sets of guide plates are welded between the two sets of fixed plates, and the bottoms face the bottom of the angle steel and expand outward in a trumpet shape. The distance between the two sets of fixed plates is the same as the width of the insulator installation end. The specific lifting method is as follows: The drive winding motor passes the lifting belt through the guide block and lowers it to the ground position. The insulator is installed on the buckle. Then the drive winding motor reverses to lift the lifting belt upward. During the lifting process, the insulator mounting end is guided by the guide plate into the space between the fixing plates. The fixing plate positions the insulator mounting end, so that the mounting holes on the insulator mounting end and the mounting holes on the angle steel are precisely aligned.

[0045] Preferably, the tilting seat is connected to the base via a rotating shaft. The power mechanism includes a first electric push rod, a sliding rack, and a gear. The first electric push rod is mounted on the base. The sliding rack, connected to the output end of the first electric push rod, is horizontally movable and mounted on the base. The gear meshing with the sliding rack is fixed on the rotating shaft. The horizontal movement of the sliding rack drives the gear to rotate and move horizontally, thereby driving the rotating shaft to rotate and move horizontally. A tension spring is mounted on the base. One end of the tension spring is fixed to the base, and the other end is connected to the rotating shaft. When the rotating shaft rotates on the base, the tension spring is in its initial state. When the rotating shaft moves horizontally on the base, the tension spring is in its stretched state after the initial state. The specific tension of the tension spring is... The calculation method is as follows: When the power mechanism applies force to the tilting seat, the rotating shaft on the tilting seat has the following two modes of motion: A: Rotate around the point If the center point of the rotating shaft is subjected to the tension of the spring Greater than the horizontal thrust of the power mechanism This prevents the shaft from moving horizontally on the base, thus reducing the horizontal thrust of the power mechanism. The torque is converted into a torque around the center point of the rotating shaft through the cooperation of the rack and gear, which drives the rotating shaft to rotate and thus drives the flipping seat to rotate. B: Overall sliding If the center point of the rotating shaft is subjected to the tension of the spring Less than the horizontal thrust of the power mechanism The shaft does not rotate; instead, it moves horizontally on the base to drive the flipping seat to move horizontally. In order to ensure that the shaft rotates without moving horizontally, the following conditions must be met:

[0046] in: It is the tension applied by the tension spring.

[0047] It is the horizontal thrust of the power mechanism; The total mass of the flipping seat and the sleeve mechanism is The perpendicular distance between the center of mass of the integral structure formed by the flip-up seat and the sleeve mechanism and the center of the rotating shaft is... The gear pitch circle radius is ; The unbalanced torque required for the shaft to rotate for:

[0048] This means that the rack needs to provide a torque of not less than [amount missing]. Only then can the rotating shaft be driven to rotate, and the torque required by the rack is provided by the horizontal thrust of the power mechanism. Provided, therefore, the horizontal thrust of the power mechanism for:

[0049] Therefore, the tension of the tension spring The following conditions must be met: .

[0051] Preferably, the present invention also provides a collaborative system for aerial work robots, including a drone and an aerial work robot, wherein the drone is used to hoist the aerial work robot to the aerial work position.

[0052] Preferably, the drone includes a drone body and a guide fork, with the guide fork connected to the bottom of the drone body, and the guide fork being detachably connected to the aerial work robot.

[0053] Preferably, the guide fork includes a connecting rod and a U-shaped connecting seat. One end of the connecting rod is connected to the UAV body, and the other end is connected to the outer center of the base of the U-shaped connecting seat. Connecting holes are provided on both sides of the vertical connecting plates at the open end of the U-shaped connecting seat.

[0054] Preferably, the U-shaped connector has a drone positioning camera fixed inside its base.

[0055] The drone's flight attitude, driven by the guide fork, is monitored by a drone positioning camera to ensure that the U-shaped connector can accurately engage with the electromagnetic pin on the second guide fork.

[0056] Preferably, the aerial work robot is equipped with a drop alignment camera.

[0057] By using a positioning camera to monitor the positioning status and descent attitude in real time during the descent of the work platform, the drone can accurately hoist the aerial work robot to the high-altitude work position.

[0058] Preferably, it also includes a ground operating system that is wirelessly connected to the robotic arm and bolt assembly tools. The ground operating system includes a display unit, a joystick controller, an isomorphic manipulator, an end effector, and a pre-positioning device. The display unit is used to display real-time visual images from each camera and to realize real-time 3D visualization of the robotic arm based on the Unity environment. By importing the 3D models of bolt assembly tools and angle steel, it completes real-time feedback of pose data. The joystick controller integrates a joystick and button module to control the position adjustment of the robotic arm and the operation of bolt assembly tools. It also completes the control command issuance and image processing tasks through the control drive board and NUC computer. The isomorphic manipulator is a scaled-down isomorphic mapping mechanism for the robotic arm, used to guide the robotic arm to the work area; by manipulating the angles of each joint of the isomorphic manipulator, the posture of the corresponding joints of the robotic arm is mapped and adjusted. The end effector is fixed to the end of the isomorphic manipulator, and its spatial position is consistent with the working posture of the bolt assembly tool. The positional relationship between the pre-positioning device and the isomorphic manipulator is the same as the positional relationship between the mounting hole and the robotic arm.

[0059] By setting up a collaborative system for aerial work robots, remote synchronous operation of the aerial work robots can be achieved.

[0060] Preferably, the display unit includes two sets of displays. One set of displays is used to display the real-time visual images of each camera, and the other set of displays is based on the Unity environment to realize the real-time three-dimensional visualization of the robotic arm. By importing the operation tools and the three-dimensional model of the tower head, the position and posture data are fed back in real time, providing intuitive support for installation operations and status monitoring.

[0061] Preferably, the joints of the isomorphic manipulator are controlled by force-controlled motors to achieve torque maintenance and attitude self-locking in the non-operational state.

[0062] Preferably, the present invention also provides a collaborative method for a collaborative system of a high-altitude work robot. The collaborative system further includes a ground operating system wirelessly connected to a robotic arm and bolt assembly tools. The ground operating system includes a display unit, a joystick controller, an isomorphic manipulator, an end effector, and a pre-positioning device. The display unit is used to display real-time visual images from each camera and to realize real-time 3D visualization of the robotic arm based on the Unity environment. By importing the 3D models of bolt assembly tools and angle steel, it completes real-time feedback of pose data. The joystick controller integrates a joystick and button module to control the position adjustment of the robotic arm and the operation of bolt assembly tools. It also completes the control command issuance and image processing tasks through the control drive board and NUC computer. The isomorphic manipulator is a scaled-down isomorphic mapping mechanism for the robotic arm, used to guide the robotic arm to the work area; by manipulating the angles of each joint of the isomorphic manipulator, the posture of the corresponding joint of the robotic arm is mapped and adjusted.

[0063] The end effector is fixed to the end of the isomorphic manipulator, and its spatial position is consistent with the bolt working posture on the bolt assembly tool. The positional relationship between the pre-positioning device and the isomorphic manipulator is the same as the positional relationship between the mounting hole and the robotic arm. The collaboration method is as follows: Based on the camera display in the display unit and the real-time feedback of the three-dimensional pose data of the robotic arm based on the Unity environment, the end effector is inserted into the pre-positioning device by operating the isomorphic manipulator. The robotic arm follows the pose change of the isomorphic manipulator in real time and moves to the working posture before perforation. During the movement, the pose parameters of the robotic arm are observed in real time based on the three-dimensional data model in the Unity environment. Then, the bolt assembly tool is operated by controlling the joystick controller. The joystick controller controls the power mechanism to rotate the central axis of the sleeve mechanism to be coaxial with the clamping center of the bolt jaws. Then, the power mechanism drives the sleeve mechanism to move horizontally towards the bolt jaws, installing the nut in the sleeve mechanism onto the bolt on the bolt jaws. After installation, the power mechanism drives the flipping seat to move horizontally in the opposite direction. After the sleeve mechanism is disengaged from the bolt, the power mechanism drives the flipping seat to rotate back to the initial position, and the bolt jaws open and separate from the bolt. After the nuts and bolts are installed, the robotic arm is restored to its initial position by operating the same type of operator.

[0064] Preferably, the aerial work robot also includes a work platform wirelessly connected to the ground operating system, with the end of the robotic arm away from the bolt assembly tool hinged to the work platform; the work platform includes a sliding mechanism and a clamping mechanism disposed on the sliding mechanism, the sliding mechanism being able to move on the angle steel, and the clamping mechanism being used to clamp the angle steel; The bolt assembly tool also includes a hole-finding mechanism that is wirelessly connected to the ground operating system. The hole-finding mechanism includes a laser and a vision camera. The laser is set on the jaw end of the bolt clamp, and the vision camera is set on the base. The laser surface emitted by the laser is on the horizontal central axis plane of the jaw end of the bolt clamp, and the vertical center line displayed in the vision camera is on the vertical central axis plane of the jaw end of the bolt clamp. The sliding mechanism is controlled to move on the angle steel by the joystick controller, and the clamping mechanism is controlled to fix the work platform on the angle steel. By operating the isomorphic manipulator to drive the robotic arm to move vertically, the bolt assembly tool is moved vertically, so that the laser surface emitted by the display laser in the display unit is at the horizontal center of the mounting hole. Then, by operating the isomorphic manipulator to drive the robotic arm to move horizontally, the bolt assembly tool is moved horizontally, so that the vertical center line of the display vision camera in the display unit is at the vertical center of the mounting hole. When the laser surface emitted by the display laser in the display unit is at the horizontal center of the mounting hole and the vertical center line of the vision camera is at the vertical center of the mounting hole, the hole finding operation is achieved. Then, the bolt assembly tool is controlled to operate by the joystick controller.

[0065] Preferably, the aerial work robot also includes a work platform wirelessly connected to the ground operating system, with the end of the robotic arm furthest from the bolt assembly tool hinged to the work platform. The working platform is equipped with a lifting mechanism, which includes a reel seat, a reel, guide wheels, a take-up motor, a lifting belt, a buckle, a second electric push rod, and a guide block. The reel seat is fixed to the working platform and has a rotatable reel and guide wheels. The output end of the take-up motor, which is fixed to the working platform, is connected to the reel. One end of the lifting belt is wound around the reel, and the other end extends out of the working platform and is connected to the buckle after being guided by the guide wheels. The second electric push rod is fixed to the bottom of the working platform. The guide block is welded between two sets of angle steel. The guide block includes a fixed plate and a guide plate. The two sets of fixed plates are arranged in parallel and welded perpendicularly between the two sets of angle steel. The top of the two sets of guide plates is welded between the two sets of fixed plates, and the bottom of the guide plates faces the bottom of the angle steel and expands outward in a trumpet shape. The distance between the two sets of fixed plates is the same as the width of the insulator installation end. The joystick controller controls the winding motor to pass the lifting belt through the guide block and lower it to the ground position. The insulator is installed on the buckle. Then, the winding motor is driven to reverse and lift the lifting belt upward. During the lifting process, the insulator mounting end is guided by the guide plate into the space between the fixing plates. The fixing plates position the insulator mounting end, ensuring that the mounting holes on the insulator mounting end and the mounting holes on the angle steel are precisely aligned. The joystick controller then controls the bolt assembly tool to operate. After the bolt and nut are installed, the joystick controller controls the second electric push rod to expand and press against the buckle, unlocking and separating the buckle from the insulator. The same type of operator returns the robotic arm to the initial position.

[0066] Compared with the prior art, the beneficial effects of the present invention are: 1. This robot not only achieves automatic assembly of bolts and nuts through the sleeve mechanism, replacing manual operation and improving installation efficiency and operational safety, but also achieves the flipping and translation of the sleeve mechanism through only one set of power mechanism, tightening the nut inside onto the bolt. This not only reduces the weight of bolt assembly tools and high-altitude operation robots, lowers the load capacity requirements of the robotic arm, but also reduces the size of bolt assembly tools.

[0067] 2. The compression spring can adjust the error of the two linkage degrees of freedom, preventing the rigid connection from causing jamming. At the same time, the presence of the compression spring can provide preload force when the nut is screwed onto the bolt, making it easier to screw in.

[0068] 3. The vertical position of the bolt is determined by the vision camera in the hole-finding mechanism. At the same time, the vision camera can display the laser emitted by the laser as a horizontal laser line. The horizontal position of the bolt during the drilling process is adjusted by using the laser line. When the vertical center line displayed in the vision camera coincides with the calculated vertical center line, and the horizontal laser line displayed in the vision camera coincides with the calculated horizontal center line, the hole-finding operation of the bolt assembly tool can be quickly realized by adjusting the two degrees of freedom, thus ensuring the hole-setting efficiency and accuracy of the bolt assembly tool.

[0069] 4. Through the coordinated arrangement of the sliding mechanism, clamping mechanism and lifting mechanism, the robot can move and fix on the angle steel, as well as lift and install the insulator. During the insulator installation process, the robot arm drives the bolt assembly tool to move, thus avoiding obstacles during the insulator installation and ensuring that the nut in the sleeve mechanism can be accurately installed on the bolt on the bolt clamp.

[0070] 5. The guide block ensures that the mounting end of the insulator will not wobble after entering between the two sets of fixing plates, thereby ensuring that the mounting holes on the mounting end of the insulator and the mounting holes on the angle steel are precisely concentric and meet the installation and docking requirements.

[0071] 6. By setting up a collaborative system for aerial work robots, remote synchronous operation of aerial work robots can be achieved. Attached Figure Description

[0072] Figure 1 This is a schematic diagram of the structure of the high-altitude operation robot according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the bolt assembly tool according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the sleeve mechanism according to an embodiment of the present invention; Figure 4This is a schematic diagram of the sleeve structure according to an embodiment of the present invention; Figure 5 This is a schematic diagram illustrating the working process of the bolt assembly tool according to an embodiment of the present invention; Figure 6 This is another structural schematic diagram of the high-altitude operation robot according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the operating platform according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the sliding mechanism according to an embodiment of the present invention; Figure 9 This is a schematic diagram of the clamping mechanism according to an embodiment of the present invention; Figure 10 This is a schematic diagram of the lifting mechanism according to an embodiment of the present invention; Figure 11 This is a schematic diagram of the installation structure of the insulator according to an embodiment of the present invention; Figure 12 This is a schematic diagram of the structure of the guide block in an embodiment of the present invention; Figure 13 This is a schematic diagram of the bolt structure according to an embodiment of the present invention; Figure 14 This is a partial structural diagram of the bolt according to an embodiment of the present invention; Figure 15 This is a schematic diagram of the collaborative system of the high-altitude operation robot according to an embodiment of the present invention; Figure 16 This is a schematic diagram of the structure of the ground operating system according to an embodiment of the present invention. Detailed Implementation

[0073] To facilitate understanding of the technical solution of the present invention by those skilled in the art, the technical solution of the present invention will now be further described in conjunction with the accompanying drawings.

[0074] In this application, unless otherwise expressly 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 part; they can refer to a mechanical connection, an electrical connection, or a communication connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0075] In this application, unless otherwise expressly specified and limited, 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 application, "multiple" means two or more, unless otherwise expressly and specifically limited.

[0076] Example 1 See Figure 1 and Figure 2 This embodiment discloses a high-altitude operation robot, including a robotic arm 1 and a bolt assembly tool 2. The robotic arm 1 can drive the bolt assembly tool 2 to move. In this embodiment, the robotic arm 1 is a multi-degree-of-freedom robotic arm, which drives the bolt assembly tool 2 to move in multiple degrees of freedom.

[0077] The bolt assembly tool 2 includes a base 201, a bolt clamp 202, a flipping seat 203, and a power mechanism 204 mounted on the base 201. The clamping end of the bolt clamp 202 holds a bolt 3. The flipping seat 203 has a sleeve mechanism 205 at one end away from the base 201. The power mechanism 204 can drive the sleeve mechanism 205 to flip and move horizontally. Specifically, by driving the power mechanism 204 to flip the sleeve mechanism 205 on the flipping seat 203, after flipping, the power mechanism 204 continues to drive the sleeve mechanism 205 to move horizontally, so as to screw the nut 4 inside the sleeve mechanism 205 onto the bolt 3 on the bolt clamp 202. After the nut is tightened, the power mechanism 204 is driven to flip again, causing the sleeve mechanism 205 to move horizontally in the opposite direction to the flipped position. The power mechanism 204 continues to drive the flipping seat 203 to flip back to the initial position.

[0078] In this embodiment, when the nut 4 and bolt 3 are tightened and assembled, the automatic assembly of bolt 3 and nut 5 is achieved through the sleeve mechanism 205, which replaces manual operation and improves installation efficiency and operation safety. Furthermore, the sleeve mechanism 205 is flipped and translated by only one set of power mechanism 204, which tightens the nut 4 inside it onto bolt 3. This not only reduces the weight of bolt assembly tool 2 and high-altitude operation robot and reduces the load capacity requirements of robotic arm 1, but also reduces the volume of bolt assembly tool 2.

[0079] For details, please refer to Figure 2The base 201 consists of two sets of parallel mounting plates, with a connecting seat 206 fixed between the two sets of mounting plates. The end of the connecting seat 206 away from the mounting plate is connected to the robotic arm 1. A bolt gripper 202 is fixed on the base 201 near the connecting seat 206. In this embodiment, the bolt gripper 202 is an electric gripper. The gripper end of the bolt gripper 202 is provided with a locking surface that mates with the bolt head of the bolt 3, ensuring that the bolt 3 will not rotate on the bolt gripper 202 after being clamped.

[0080] Each mounting plate has a first slide groove 2011 and a second slide groove 2012 arranged in parallel at the end away from the connecting seat 206, with the second slide groove 2012 positioned above the first slide groove 2011.

[0081] The flip base 203 is fixedly connected to two ends of a rotating shaft 207. The end of the rotating shaft 207 away from the flip base 3 is set on the first slide groove 2011 on the two sets of mounting plates. The rotating shaft 207 can rotate and move within the first slide groove 2011, thereby enabling the flip base 203 to rotate and move between the two sets of mounting plates following the rotating shaft 207.

[0082] The power mechanism 204 is set on the base 1 below the bolt clamp 202, and specifically includes a first electric push rod 2041, a sliding rack 2042 and a gear 2043. The first electric push rod 2041 is fixed between two sets of mounting plates below the bolt clamp 202. The output end of the first electric push rod 2041 is set towards the flip seat 203 and connected to the sliding rack 2042. The two ends of the sliding rack 2042 near the mounting plate are provided with sliders. The sliders are horizontally slidably set in the second slide groove 2012. The gear 2043 is coaxially fixed on the rotating shaft 207 and meshes with the sliding rack 2042 set above the gear 2043.

[0083] The sliding rack 2042 has a first inclined surface 20421 at the end away from the first electric push rod 2041, and the flipping seat 203 has a second inclined surface 2031 at the end near the rotating shaft 207. When the central axis of the sleeve mechanism 205 on the flipping seat 203 is flipped to be coaxial with the clamping center of the bolt claw 202, the second inclined surface 2031 is in contact with the first inclined surface 20421. At this time, the power mechanism 204 can drive the flipping seat 203 to move horizontally, that is, the sleeve mechanism 205 moves horizontally.

[0084] Each mounting plate is equipped with a tension spring 208. One end of the tension spring 208 is fixed to the mounting plate on the side of the first slide groove 2011 away from the connecting seat 206, and the other end is connected to the rotating shaft 207 set in the first slide groove 2011. When the rotating shaft 207 rotates on the base, the tension spring 208 is in the initial state. When the rotating shaft 207 moves horizontally on the base, the tension spring is in the stretched state after the initial state.

[0085] In this embodiment, refer to Figure 3 The sleeve mechanism 205 includes a nut tightening motor 2051 and a sleeve 2052 fixed on the flipping base 203. When the second inclined surface 2031 on the flipping base 203 is engaged with the first inclined surface 20421 on the sliding rack 2042, the central axis of the sleeve 2052 is coaxial with the clamping center of the bolt clamp 202. The nut tightening motor 2051 is used to tighten the nut 4 inside the sleeve 2052 onto the bolt 3, realizing the automatic assembly of the bolt 3 and the nut 4, replacing manual operation, improving installation efficiency and operational safety. See Figure 4 The sleeve 2052 includes a sleeve body 20521, a compression spring 20522, and a nut spring 20523. The sleeve body 20521 is rotatably mounted on the flipping seat 203, and one end of the sleeve body 20521 away from the open end of the mounting nut 4 is connected to the output end of the nut tightening motor 2051. Specifically, a circumferential sleeve is provided on the flipping seat 203, and the sleeve body 20521 is rotatably mounted inside the circumferential sleeve through a bearing sleeve. The rotation of the output end of the nut tightening motor 2051 drives the sleeve body 20521 to rotate on the circumferential sleeve. Multiple sets of compression springs 20522 are evenly distributed on the inner circumference. In this embodiment, three sets of compression springs 20522 are evenly distributed. The nut spring piece 20523 is movable in the axial direction of the sleeve body 20521 and is disposed inside the sleeve body 20521. The nut spring piece 20523 is provided with three sets of elastic spring pieces for clamping the nut 4. One end of the compression spring 20522 is fixed inside the sleeve body 20521, and the other end is connected to the nut spring piece 20523. The compression spring 20522 is used to ensure that the end face of the nut spring piece 20523 is always flush with the circumferential surface of the sleeve body 20521.

[0086] Specifically, when nut 4 is compressed, it slides into the sleeve body 20521 under the action of compression spring 20522. Simultaneously, as nut 4 rotates and slides inward, it must both rotate and slide into the sleeve body 20521 along with the horizontal movement of the flipping seat 203. The function of compression spring 20522 is to adjust the error of the two linkage degrees of freedom, preventing jamming caused by rigid connection. At the same time, the presence of compression spring 20522 allows nut 4 to provide preload while screwing onto bolt 3, facilitating better screwing. The flipping seat 203... When the upward flip is completed, the nut 4 needs to be on the same axis as the bolt 3 on the bolt clamp 202. Generally, the nut 4 is fixed to the sleeve 2052 with a rigid connection. Due to manufacturing errors and the existence of gaps, when the nut 4 and the bolt 3 are slightly off the same axis after the flip is completed, the nut 4 often gets stuck and cannot be screwed in during the rotation process. By setting 3 sets of compression springs 20522, the nut 4 can be slightly and flexibly adjusted in the nut spring 20523, so that it can automatically adjust to the error after the flip and ensure that the nut 4 can be screwed into the bolt 3.

[0087] See also Figure 2 In this embodiment, the bolt assembly tool 2 also includes a hole-finding mechanism 209, used to locate the position of the mounting hole on the angle steel and ensure that the bolt 3 on the bolt gripper 202 can accurately enter the mounting hole. It should be noted that in this embodiment, the aerial work robot operates on angle steel, but it is not limited to angle steel. It can be steel structures such as round steel and steel pipes, or it can be the installation of bolts and nuts on wooden or PVC material structures. Specifically, the hole-finding mechanism 209 includes a laser 2091 and a vision camera 2092. The laser 2091 is set on one side of the gripper end of the bolt gripper 202, and the vision camera 2092 is set on the base 201. It is used to acquire the position of the mounting hole and process the image. The laser surface emitted by the laser 2091 is on the horizontal central axis surface of the gripper end of the bolt gripper 202, that is, on the horizontal central axis surface of the bolt 3. The vertical center line displayed in the vision camera 2092 is on the vertical central axis surface of the gripper end of the bolt gripper 202, that is, on the vertical central axis surface of the bolt 3.

[0088] Specifically, by controlling the bolt 3 on the bolt assembly tool 2 at the end of the robotic arm 1 to be perpendicular to the mounting hole surface, the vision camera 2092 will display a vertical center line, which can determine the vertical position distance of the bolt. At the same time, the vision camera can also display the laser surface emitted by the laser 2091 as a horizontal laser line. The horizontal position distance during the drilling process is adjusted using the laser line. First, the vision camera 2092 captures the position of the mounting hole and calculates the vertical and horizontal center lines of the mounting hole. Then, the robotic arm 1 is controlled to move, which drives the bolt assembly tool 2 to move, so that the vertical center line displayed in the vision camera 2092 coincides with the calculated vertical center line, and the horizontal laser line displayed in the vision camera 2092 coincides with the calculated horizontal center line. By adjusting between these two degrees of freedom, the bolt assembly tool 2 can quickly perform the hole finding operation, ensuring the hole setting efficiency and accuracy of the bolt assembly tool 2.

[0089] For further details, please refer to [link / reference]. Figure 2 An observation camera 210 is provided on the flip seat 203 to observe whether the nut 4 is tightened on the bolt 3. Specifically, during the tightening process of the nut 4, the flip seat 203 moves closer to the bolt clamp 202. When the observation camera 210 observes that the distance between the flip seat 203 and the bolt clamp 202 meets the design requirements, it indicates that the nut 4 has been tightened on the bolt 3.

[0090] In this embodiment, the bolt piercing process is as follows: the bolt assembly tool 2 is moved to the approximate position of the mounting hole on the angle steel by the robotic arm 1, and then the specific position of the mounting hole is found by the hole finding mechanism 209. Then, the bolt assembly tool 2 is moved by the robotic arm 1 to insert the bolt 3 clamped on the bolt jaw 202 into the mounting hole, thus completing the bolt piercing operation.

[0091] See Figure 5In this embodiment, the nut tightening process is as follows: When the rotating shaft 207 rotates within the first slide groove 2011, the tension spring 208 is in its initial state. At this time, the rotating shaft 207 abuts against the end of the tension spring 208 within the first slide groove 2011. Simultaneously, the flipping seat 203 and the bolt clamp 202 are in their maximum opening state, which is also the initial state. The tension spring 208 is in a stretched state in the initial state, ensuring that the tension spring 208 always exerts a pulling force on the rotating shaft 207. Furthermore, the pulling force of the tension spring 208 in the initial state is greater than that of the sliding rack. The rotational force of gear 2042 on gear 2043 ensures that when the first electric push rod 2041 retracts, it drives gear 2043 to rotate via sliding rack 2042, thereby driving shaft 207 to rotate on base 201, and in turn driving tilting seat 203 to rotate on base 201. When the second inclined surface 2031 on tilting seat 203 is in contact with the first inclined surface 20421 on sliding rack 2042, the central axis of sleeve 2052 on tilting seat 203 is coaxial with the clamping center of bolt jaw 202, continuing to drive the first electric push rod 2041 to rotate. When the electric push rod 2041 retracts, the second inclined surface 2031 on the tilting seat 203 engages with the first inclined surface 20421 on the sliding rack 2042, preventing the tilting seat 203 from continuing to tilt. This causes the gear 2043 to move horizontally towards the first electric push rod 2041, following the sliding rack 2042. This, in turn, drives the rotating shaft 207 to move horizontally within the first sliding groove 2011, thereby causing the sleeve mechanism 205 to move horizontally towards the bolt clamp 202, following the tilting seat 203. When the sleeve 2052... After the nut is placed on the bolt clamp 202, the nut is tightened onto the bolt by driving the nut tightening motor 2051. During the tightening process, the flipping seat 203 continues to move horizontally towards the bolt clamp 202, so that the nut tightening motor 2051 follows and tightens the nut. When the observation camera 210 observes that the distance between the flipping seat 203 and the bolt clamp 202 meets the design requirements during the tightening process of nut 4, it indicates that nut 4 has been tightened onto bolt 3, and the tightening operation is stopped.

[0092] After the nut is tightened, the first electric push rod 2041 is driven to expand, causing the sliding rack 2042 to move horizontally away from the first electric push rod 2041. Since the tension of the tension spring 208 is greater than the rotational force of the sliding rack 2042 on the gear 2043, when the tension spring 208 contracts, it will drive the rotating shaft 207 to move horizontally in the first slide groove 2011, thereby driving the sleeve mechanism 205 to move horizontally away from the bolt clamp 202 along with the flipping seat 203, so that the sleeve 2052 slides out of the bolt. When the rotating shaft 207 abuts against the end of the first slide groove 2011, the rotating shaft 207 stops moving, and then the gear 2043 is driven to rotate under the action of the sliding rack 2042, and finally the flipping seat 203 is driven to rotate to the initial position away from the bolt clamp 202.

[0093] For further details, please refer to [link / reference]. Figure 1 as well as Figure 6 In this embodiment, the high-altitude operation robot also includes a work platform 5, and the end of the robotic arm 1 away from the bolt assembly tool 2 is hinged to the work platform 5.

[0094] See Figure 7 The working platform 5 includes a sliding mechanism 501 and a clamping mechanism 502 disposed on the sliding mechanism 501. The sliding mechanism 501 can move on the angle steel, and the clamping mechanism 502 is used to clamp the angle steel.

[0095] See Figure 1 and Figure 8 The sliding mechanism 501 includes a sliding platform 5011, a sliding motor 5012, a drive wheel 5013, a driven wheel 5014, a first guide fork 5015, a second guide fork 5016, and a platform alignment camera 5017. The sliding platform 5011 has a rectangular frame structure with an external housing. The end of the robotic arm 1 away from the bolt assembly tool 2 is fixed to the sliding platform 5011. Drive wheels 5013 are fixed to both sides of one end of the bottom of the sliding platform 5011, and driven wheels 5014 are fixed to both sides of the other end. The output end of the sliding motor 5012, which is fixed to the sliding platform 5011, is connected to the drive wheel 5013. Both the drive wheel 5013 and the driven wheel 5014 can roll on the angle steel. By controlling the forward and reverse rotation of the sliding motor 5012, the drive wheel 5013 is driven to rotate synchronously, thereby driving the entire sliding mechanism 501 to slide on the angle steel.

[0096] In this embodiment, two sets of first guide forks 5015 are arranged on both sides of the sliding platform 5011 parallel to its sliding direction. Each set of first guide forks 5015 is in a downward-opening V-shape. A platform alignment camera 5017 is fixed on one set of first guide forks 5015. In this embodiment, the center of the platform alignment camera 5017 is located on the center plane of the sliding platform 5011 in the direction of movement, and the mounting posture relationship of the platform alignment camera 5017 relative to the robotic arm 1 is known. The image of the platform alignment camera 5017 is provided with a vertical reference auxiliary line. By controlling the movement of the sliding platform 5011, the center of the mounting hole on the angle steel is made to coincide with the vertical auxiliary line of the camera. Based on this, the precise positional relationship of the end of the robotic arm 1 relative to the mounting hole can be calculated and determined, providing accurate visual positioning for subsequent assembly operations.

[0097] In this embodiment, a set of second guide forks 5016 are provided on both sides of the sliding platform 5011 perpendicular to its sliding direction. The second guide forks 5016 are in an upward-opening V-shape and are equipped with electromagnetic pins. The electromagnetic pins can connect with the guide forks on the drone, allowing the robot to be mounted under the drone. The drone then lifts the robot onto the angle steel of the power transmission tower for operation. The upward-opening V-shaped second guide forks 5016 serve a guiding and correction function, facilitating the alignment of the guide forks on the drone with the electromagnetic pins.

[0098] Furthermore, in reference Figure 6 The bottom of the sliding platform 5011 is also equipped with multiple proximity switches 5018. In this embodiment, two sets of proximity switches 5018 are provided to detect whether the sliding platform 5011 is stably placed on the two sets of angle steel. Specifically, when the sliding platform 5011 is horizontal and stably placed, the two sets of proximity switches 5018 effectively detect the two sets of angle steel signals and output them respectively. If the sliding platform 5011 is tilted or suspended on one side, the corresponding proximity switch 5018 will not be able to detect the angle steel signal, which can promptly identify the risk of tilting, jamming and falling off.

[0099] See Figure 9 The clamping mechanism 502 includes a mounting base plate 5021, slide rails 5022, clamping racks 5023, clamping wheel frames 5024, clamping wheels 5025, a clamping motor 5026, and clamping gears 5027. The mounting base plate 5021 is fixed inside the sliding platform 5011. Two sets of parallel slide rails 5022, perpendicular to the sliding direction of the sliding platform 5011, are fixed on the mounting base plate 5021. Each set of slide rails 5022 is equipped with a sliding clamping rack 5023. The opposite ends of the racks 5023 extend out of the sliding platform 5011 and are connected to the clamping wheel frame 5024. The clamping wheel frame 5024 is provided with two sets of clamping wheels 5027 for clamping angle steel and can rotate on the clamping wheel frame 5024. The clamping motor 5026 is fixed on the mounting base plate 5021. The output end of the clamping motor 5026 is connected to the clamping gear 5025. The clamping gear 5025 is located between the two sets of clamping racks 5023 and meshes with the two sets of clamping racks 5023.

[0100] Specifically, after the sliding platform 5011 is smoothly placed on the two sets of angle steel, the driving clamping motor 5026 drives the clamping gear 5027 to rotate, thereby driving the two sets of clamping racks 5023 to move in opposite directions in a straight line, which in turn drives the two sets of clamping wheel frames 5024 to move synchronously in opposite directions. Finally, the clamping wheels 5027 clamp and position the two sets of angle steel on both sides to prevent the working platform 5 from slipping off the angle steel.

[0101] Once the work platform 5 is clamped and positioned, the clamping wheel 5027 clamps the angle steel. The drive sliding motor 5012 drives the drive wheel 5013 to rotate synchronously. This allows the entire aerial work robot to move on the angle steel while preventing it from slipping off. Under the display of the platform hole-aligning camera 5017, the work platform 5 is precisely moved to the mounting hole position.

[0102] Further reading Figure 6 In the case where the insulator 6 is installed on angle steel, the working platform 5 in this embodiment also includes a lifting mechanism 503 for lifting the insulator 6.

[0103] See Figures 10 to 12 The lifting mechanism 503 includes a reel holder 5031, a reel 5032, a guide wheel 5033, a take-up motor 5034, a lifting belt 5035, a buckle 5036, a second electric push rod 5037, and a guide block 5038. The reel holder 5031 is fixed on the sliding platform 5011. The reel holder 5031 is equipped with a rotatable reel 5032 and a guide wheel 5033. The output end of the take-up motor 5034, which is fixed on the sliding platform 5011, is connected to the reel 5032. One end of the lifting belt 5035 is wound around the reel 5032. 2. The other end extends out of the sliding mechanism 501 after being guided by the guide wheel 5033 and is connected to the buckle 5036 for engaging the insulator 6. Specifically, the buckle 5036 is equipped with a safety lock trigger button for engaging with the insulator 6. The second electric push rod 5037 is fixed to the bottom of the sliding platform 5011. By expanding and pressing the safety lock trigger button through the second electric push rod 5037, the buckle 5036 is unlocked and separated from the insulator 6. The winding and unwinding operation of the lifting belt 5035 is realized by driving the forward and reverse rotation of the winding motor 5034.

[0104] In this embodiment, the lifting belt 5035 is a braided belt with a certain width, which reduces the rotation of the lifting belt 5035 when lifting the insulator 6 to the position of the angle steel, ensuring that the posture of the insulator 6 is controllable during the lifting process, thereby ensuring that the mounting holes on the insulator 6 can be accurately aligned with the mounting holes on the angle steel.

[0105] It should be noted that the insulator 6 is installed between two angle steels on the transmission tower. During the installation of the transmission tower, a guide block 5038 is pre-welded between the two angle steels. The guide block 5038 is hollow in the middle and is welded between the mounting holes of the insulator 6 on the two angle steels.

[0106] See also Figure 12The guide block 5038 includes a fixing plate 50381 and a guide plate 50382. Two sets of fixing plates 50381 are arranged parallel to each other and welded vertically between two sets of angle steel. The tops of the two sets of guide plates 50382 are welded between the two sets of fixing plates 50381, and their bottoms face the bottom of the angle steel and expand outwards in a trumpet shape. The distance between the two sets of fixing plates 50381 is the same as the width of the mounting end of the insulator 6. The guide plate 50382 serves a guiding function, ensuring that the lifting mechanism 503 can accurately lift the mounting end of the insulator 6 between the two sets of parallel fixing plates 50381. Because the distance between the two sets of fixing plates 50381 is the same as or approximately the same as the width of the mounting end of the insulator 6, the mounting end of the insulator 6 will not wobble after entering between the two sets of fixing plates 50381. This ensures that the mounting holes on the mounting end of the insulator 6 and the mounting holes on the angle steel are precisely concentric, meeting the installation and docking requirements.

[0107] In this embodiment, the high-altitude operation robot moves the bolt assembly tool 2 by driving the robotic arm 1, thereby avoiding obstacles during the installation of the insulator 6 and ensuring that the nut 4 in the sleeve mechanism 205 can be accurately installed on the bolt 3 on the bolt clamp 202.

[0108] Furthermore, such as Figure 13 and Figure 14 As shown, bolt 3 includes bolt body 31, elastic element 32, spring pin 33, nut clip 34 and center pin 35.

[0109] The threaded portion of the bolt body 31 has a central hole (not shown in the figure) along its central axis. The elastic element 32 is disposed inside the central hole, with one end connected to the bottom of the central hole and the other end connected to the spring pin 33 disposed in the central hole.

[0110] The center pin 35 is set on the bolt body 31 and extends into the center hole. The central axis of the center pin 35 is set along the radial direction of the center hole. Two sets of nut clips 34 are hinged to the center pin 35 in a figure-eight shape, and the center pin 35 is set perpendicular to the nut clips 34, so that the two sets of nut clips 34 can open or close in a figure-eight shape on the center pin 35.

[0111] The bolt body 31 has two sets of slots near the nut clip 34 on the threaded part. The two sets of slots are symmetrically arranged along the central hole and communicate with the central hole. The end of the nut clip 34 away from the central pin 35 extends into the slot.

[0112] The end of the spring pin 33 away from the elastic element 32 is positioned towards the center pin 35 and abuts against the two sets of nut clips 34, so that the two sets of nut clips 34 can automatically rotate on the center pin 35 and open outwards from the slot, thereby preventing the nut 4 from loosening outwards from the threaded portion of the bolt body 31.

[0113] In this embodiment, the elastic element 32 is a spring that is always in a compressed state, so that the elastic element 32 always provides elastic force to the center pin 35, thereby keeping the two sets of nut clips 34 always in an open state.

[0114] Furthermore, the end of the nut clip 34 furthest from the center pin 35 is an acute-angled abutment. The abutment is formed by the first and second inclined surfaces. When the nut clip 34 is in its most open state, the first inclined surface 341 is arranged radially along the threaded portion of the bolt body 31. When the nut clip 34 is in its retracted state, the first inclined surface 341 is arranged closer to the spring pin 33, and the second inclined surface 342 is inclined toward the tail of the bolt body 31. This allows the second inclined surface 342 to be stressed when the nut 4 is screwed in, causing the two sets of nut clips 34 to retract inward to avoid the nut 4. After the nut 4 is tightened, it returns to its open state under the action of the elastic element 32. The first inclined surface 341 provides axial constraint and anti-loosening for the nut 4, making the installation process convenient.

[0115] Specifically, during the screwing-in assembly process of nut 4, the end face of nut 4 presses against the second inclined surface 342 of nut clip 34, overcoming the elastic force of elastic element 32 and causing the two sets of nut clips 34 to retract inward to avoid nut 4; after nut 4 is tightened, it returns to the open state under the action of elastic element 32, and the first inclined surface 341 on the opened nut clip 34 forms an axial limiting structure, which axially constrains and prevents loosening of nut 4, effectively preventing nut 4 from loosening or falling off from the threaded part of bolt body 31 during operation.

[0116] Example 2 Based on Embodiment 1, this embodiment also discloses a working method for a high-altitude work robot. The robotic arm 1 moves the bolt assembly tool 2, causing the bolt 3 on the bolt gripper 202 to pass through the mounting hole. When the power mechanism 204 drives the central axis of the sleeve mechanism 205 to rotate to be coaxial with the clamping center of the bolt gripper 202, that is, the central axis of the nut 4 inside the sleeve mechanism 205 is coaxial with the central axis of the bolt 3 on the bolt gripper 202, the power mechanism 204 is then driven to move the sleeve mechanism 205 horizontally towards the bolt gripper 202, installing the nut 4 inside the sleeve mechanism 205 onto the bolt 3 on the bolt gripper 202. After installation, the power mechanism 204 is driven in the opposite direction to move the flipping seat 203 horizontally in the opposite direction. After the sleeve mechanism 205 disengages from the bolt 3, the power mechanism 204 continues to drive the flipping seat 203 to rotate back to the initial position, and the gripper end of the bolt gripper opens and separates from the bolt 3, completing the installation of the bolt 3 and the nut 4.

[0117] Specifically, the aerial work robot is first placed on two sets of angle steel. The proximity switches 5018 at the bottom of the sliding platform 5011 detect whether the sliding platform 5011 is stably placed on the two sets of angle steel. When the sliding platform 5011 is horizontal and stably placed, the two sets of proximity switches 5018 effectively detect the signals of the two sets of angle steel and output them respectively. If the sliding platform 5011 tilts or is suspended on one side, the corresponding proximity switch 5018 will not be able to detect the angle steel signal, which can promptly identify the risk of tilting, jamming and falling.

[0118] After the aerial work robot is smoothly placed on the two sets of angle steel, the clamping motor 5026 drives the clamping gear 5027 to rotate, thereby causing the two sets of clamping racks 5023 to move in opposite directions in a straight line, which in turn causes the two sets of clamping wheel frames 5024 to move synchronously in opposite directions. Finally, the clamping wheels 5027 clamp and position the two sets of angle steel on both sides to prevent the work platform 5 from slipping off the angle steel.

[0119] After the clamping and positioning of the work platform 5 is completed, the clamping wheel 5027 clamps the angle steel. The drive sliding motor 5012 drives the drive wheel 5013 to rotate synchronously, thus preventing the robot from slipping on the angle steel and moving the entire aerial work robot on the angle steel. Under the display of the platform hole-aligning camera 5017, the work platform 5 is precisely moved to the installation hole position. Then, the winding motor 5034 is driven to pass the lifting belt 5035 through the guide block 5038 and lower it to the ground position. The insulator 6 is installed on the buckle 5036. Then, the winding motor 5034 is driven to reverse and lift the lifting belt 5035 upward. During the lifting process of the insulator 6, the installation end of the insulator 6 is guided by the guide plate 50382 into the space between the fixing plates 50381. The fixing plate 50381 positions the installation end of the insulator 6, so that the installation hole on the installation end of the insulator 6 is precisely aligned with the installation hole on the angle steel.

[0120] Then, the robotic arm 1 drives the bolt 3 on the bolt assembly tool 2 to be perpendicular to the mounting hole surface. The vision camera 2092 will display a vertical center line. At the same time, the vision camera can also display the laser surface emitted by the laser 2091 as a horizontal laser line. Then, the robotic arm 1 drives the bolt assembly tool 2 to move vertically, so that the laser surface emitted by the laser 2091 is at the horizontal center of the mounting hole. Then, the robotic arm 1 drives the bolt assembly tool 2 to move horizontally, so that the vertical center line displayed in the vision camera 2092 is at the vertical center of the mounting hole, thus completing the hole finding operation of the bolt assembly tool 2.

[0121] After the hole-finding operation is completed, the robotic arm 1 drives the bolt assembly tool 2 to move, inserting the bolt 3 held by the bolt clamp 202 into the mounting holes on the angle steel and the mounting holes on the insulator 6. Then, the first electric push rod 2041 is driven to retract. Since the tension of the tension spring 208 in the initial state is greater than the rotational force of the sliding rack 2042 on the gear 2043, the sliding rack 2042 drives the gear 2043 to rotate, which in turn drives the rotating shaft 207 to rotate on the base 201, thereby driving the flipping seat 203 to rotate on the base 201. When the second inclined surface 2031 on the flipping seat 203 is in contact with the first inclined surface 20421 on the sliding rack 2042, the central axis of the sleeve 2052 on the flipping seat 203 is coaxial with the clamping center of the bolt clamp 202. The first electric push rod 2041 continues to be driven to retract. Since the second inclined surface 2031 on the flipping seat 203 is in contact with the first inclined surface 20421 on the sliding rack 2042, the central axis of the sleeve 2052 on the flipping seat 203 is coaxial with the clamping center of the bolt clamp 202. The 421 engagement prevents the flipping seat 203 from flipping further, causing the gear 2043 to move horizontally towards the first electric push rod 2041 following the sliding rack 2042. This drives the rotating shaft 207 to move horizontally within the first sliding groove 2011, which in turn drives the sleeve mechanism 205 to move horizontally towards the bolt clamp 202 following the flipping seat 203. When the nut 4 in the sleeve 2052 is fitted onto the bolt 3 on the bolt clamp 202, the nut 4 is tightened onto the bolt on the bolt clamp 202 by driving the nut tightening motor 2051. During the tightening process, the flipping seat 203 continues to move horizontally towards the bolt clamp 202, enabling the nut tightening motor 2051 to tighten the nut 4 accordingly. When the observation camera 210 observes that the distance between the flipping seat 203 and the bolt clamp 202 meets the design requirements during the tightening process, it indicates that the nut 4 has been tightened onto the bolt 3, and the tightening operation stops.

[0122] After nut 4 is tightened, the first electric push rod 2041 is expanded, causing the sliding rack 2042 to move horizontally away from the first electric push rod 2041. Since the tension of the tension spring 208 is greater than the rotational force of the sliding rack 2042 on the gear 2043, when the tension spring 208 contracts, it will cause the rotating shaft 207 to move horizontally within the first slide groove 2011, thereby causing the sleeve mechanism 205 to move horizontally away from the bolt clamp 202 along with the flipping seat 203, causing the sleeve 2052 to slide out of the bolt. When the rotating shaft 2041... After the 7 abuts against the end of the first slide groove 2011, the rotating shaft 207 stops moving, and then drives the gear 2043 to rotate under the action of the sliding rack 2042, and finally drives the flipping seat 203 to rotate away from the bolt clamp 202 to the initial position; then the mechanical arm 1 drives the bolt assembly tool 2 to move to the initial position, and then the second electric push rod 5037 expands and presses the safety lock trigger button on the buckle 5036, so that the buckle 5036 and the insulator 6 are unlocked and separated, and the installation of the insulator 6 is completed.

[0123] Furthermore, in this embodiment, the tension of the tension spring... The calculation method is as follows: When the power mechanism 204 applies force to the tilting seat 203, the rotating shaft 207 on the tilting seat 203 has the following two modes of motion: A: Rotate around the point If the center point of the rotating shaft 207 is subjected to the tension of the spring 208 The horizontal thrust is greater than 204 of the power mechanism. This prevents the rotating shaft 207 from moving horizontally on the base 201, thus reducing the horizontal thrust of the power mechanism 204. The torque generated by the sliding rack 2042 and gear 2043 around the center point of the rotating shaft 207 is converted into a torque, which drives the rotating shaft 207 to rotate and thus drives the flipping seat 203 to rotate. B: Overall sliding If the center point of the rotating shaft 207 is subjected to the tension of the spring 208 The horizontal thrust of the power mechanism is less than 204. The rotating shaft 207 does not rotate, but moves horizontally on the base 201 to drive the flipping seat 203 to move horizontally; To ensure that the rotating shaft 207 rotates without moving horizontally, the following conditions must be met:

[0124] in: It is the tension applied by the tension spring 208.

[0125] It is the horizontal thrust of the power mechanism 204; The total mass of the flip seat 203 and the sleeve mechanism 205 is The perpendicular distance between the center of mass of the integral structure formed by the flip seat 203 and the sleeve mechanism 205 and the center of the rotating shaft 207 is... The pitch circle radius of gear 2043 is ; Unbalanced torque required for the rotation of shaft 207 for:

[0126] This indicates that the torque required by the sliding rack 2042 is not less than Only then can the rotating shaft 207 be driven to rotate, and the torque required by the sliding rack 2042 is provided by the horizontal thrust of the power mechanism 204. Provided, therefore, the horizontal thrust of the power mechanism 204 for:

[0127] Therefore, the tension of spring 208 is... The following conditions must be met: .

[0129] Specifically, material properties are assigned to the rotating parts based on the 3D model, with m=0.742kg, =98.5mm For example, with a thickness of 10mm: =7.3087×9.81≈71.7N.

[0130] Therefore, to ensure that the rotating shaft 207 rotates without moving, the force required by the tension spring 208 is... The horizontal thrust must be greater than or equal to that of the power mechanism 204. In this embodiment, a tension spring 208 is distributed on both the left and right sides of the base 201. Taking a safety factor of 2, the tension spring 208 with an initial tension of 72N is selected.

[0131] Example 3 See Figure 15 Based on Embodiment 1, this embodiment also discloses a collaborative system for aerial work robots, including a drone 7 and an aerial work robot. The drone 7 is used to hoist the aerial work robot to the aerial work position.

[0132] The drone 7 includes a drone body 71 and a guide fork 72. The guide fork 72 is connected to the bottom of the drone body 71 and can be detachably connected to the aerial work robot.

[0133] Furthermore, the guide fork 72 includes a connecting rod and a U-shaped connecting seat. One end of the connecting rod is connected to the UAV body 71, and the other end is connected to the outer center of the base of the U-shaped connecting seat. The vertical connecting plates on both sides of the open end of the U-shaped connecting seat are provided with connecting holes that cooperate with the electromagnetic pins on the second guide fork 5016.

[0134] The U-shaped connector has a drone alignment camera (not shown in the figure) fixed inside the base. This camera monitors the flight attitude of the drone body 71 driving the guide fork 72, ensuring that the U-shaped connector can accurately engage with the electromagnetic pin on the second guide fork 5016.

[0135] See Figure 6 The bottom of the sliding platform 5011 is equipped with a drop alignment camera 5019, which is used to monitor the alignment status and descent attitude in real time during the descent of the work platform 5, so as to ensure that the drone 7 can accurately hoist the high-altitude work robot to the high-altitude work position.

[0136] Specifically, the drone body 71 is monitored by the drone alignment camera as it flies above the aerial work robot. Then, it descends and inserts the two vertical connecting plates on both sides of the U-shaped connecting seat opening on the guide fork 72 between the second guide fork 5016 and the sliding platform 5011. Then, the electromagnetic pin on the second guide fork 5016 is activated, extending it to engage with the connecting hole on the vertical connecting plate, thus connecting the drone 7 and the aerial work robot. The drone 7 then hoists the aerial work robot onto the angle steel of the power transmission tower. The alignment status and descent attitude of the aerial work robot are monitored in real time by the descent alignment camera 5019 to ensure that the drone 7 can accurately hoist the aerial work robot onto the angle steel of the power transmission tower. After hoisting, the electromagnetic pin on the second guide fork 5016 is activated, causing it to retract from the connecting hole on the vertical connecting plate, thus disconnecting the U-shaped connecting seat from the second guide fork 5016 and separating the drone 7 from the aerial work robot.

[0137] Similarly, the process of hoisting the aerial work robot from its high-altitude work position to its initial position is the same as described above, and will not be repeated here.

[0138] For further details, please refer to [link / reference]. Figure 16 The collaborative system of the high-altitude operation robot in this embodiment also includes a ground operating system 8 that is wirelessly connected to the robotic arm 1, bolt assembly tool 2, work platform 5 and drone 7. The ground operating system 8 includes a display unit 81, a joystick controller 82, an isomorphic operator 83, an end effector 84 and a pre-positioning device 85.

[0139] The display unit 81 includes two sets of displays. One set of displays is used to display the real-time visual images of each camera, and the other set of displays is based on the Unity environment to realize the real-time 3D visualization of the robotic arm. By importing the operation tools and the 3D model of the tower head, the position and posture data are fed back in real time, providing intuitive support for installation operations and status monitoring.

[0140] The joystick controller 82 integrates a joystick and button module to control the posture adjustment of the robotic arm 1 and the operation of the bolt assembly tool 2. It also completes the control command issuance and image processing tasks through the control drive board and NUC computer.

[0141] The isomorphic manipulator 83 is a proportionally scaled isomorphic mapping mechanism for the robotic arm 1, used to guide the robotic arm 1 to the work area; by manipulating the angles of each joint of the isomorphic manipulator 83, the posture of the corresponding joint of the robotic arm 1 is mapped and adjusted. The joints of the isomorphic manipulator 83 are controlled by force-controlled motors to achieve torque maintenance and posture self-locking in the non-operation state.

[0142] The end guide 84 is fixed to the end of the isomorphic manipulator 83, and its spatial position is consistent with the working posture of the bolt assembly tool 2. The positional relationship between the pre-positioning device 85 and the isomorphic manipulator 83 is the same as the positional relationship between the mounting hole on the angle steel and the robotic arm 1.

[0143] By setting up a collaborative system for aerial work robots, remote synchronous operation of the aerial work robots can be achieved.

[0144] Example 4 Based on Embodiment 3, this embodiment also discloses a collaborative method for a collaborative system of a high-altitude work robot. According to the camera display in the display unit 81 and the real-time feedback of the three-dimensional pose data of the robotic arm 1 based on the Unity environment, the end effector 84 is inserted into the pre-positioning device 85 by operating the isomorphic manipulator 83. The robotic arm 1 follows the pose change of the isomorphic manipulator 83 in real time and moves to the working posture before perforation. During the movement, the pose parameters of the robotic arm 1 are observed in real time based on the three-dimensional data model in the Unity environment.

[0145] The bolt assembly tool 2 is then operated by the joystick controller 82. The joystick controller 82 controls the power mechanism 204 to rotate the central axis of the sleeve mechanism 205 to be coaxial with the clamping center of the bolt clamp 202. Then, the power mechanism 204 drives the sleeve mechanism 205 to move horizontally towards the bolt clamp 202, installing the nut 4 inside the sleeve mechanism 205 onto the bolt 3 on the bolt clamp 202. After installation, the power mechanism 204 drives the flipping seat 203 to move horizontally in the opposite direction. After the sleeve mechanism 205 disengages from the bolt 3, the power mechanism 204 drives the flipping seat 203 to rotate back to the initial position, and the bolt clamp 202 opens and separates from the bolt 3. The specific operation mode of the bolt assembly tool 2 is the same as the working principle of the first embodiment above, and will not be described again here.

[0146] After the nut 4 and bolt 3 are installed, the robotic arm 1 is restored to its initial position by operating the isomorphic manipulator 83.

[0147] Furthermore, before the bolt assembly tool 2 operates, the sliding mechanism 501 is moved on the angle steel by the joystick controller 82. The display unit 81 displays the image from the platform's hole-aligning camera 5017 in real time. When the center of the mounting hole on the angle steel in the image coincides with the vertical auxiliary line of the camera, the sliding mechanism 501 stops operating, completing the hole alignment operation. Then, the robotic arm 1 is moved vertically by the isomorphic manipulator 83, thereby moving the bolt assembly tool 2 vertically, so that the laser surface emitted by the laser displayed in the display unit 81 is at the horizontal center of the mounting hole. Then, the robotic arm 1 is moved horizontally by the isomorphic manipulator 83, thereby moving the bolt assembly tool 2 horizontally, so that the vertical center line of the visual camera displayed in the display unit 81 is at the vertical center of the mounting hole. When the laser surface emitted by the laser displayed in the display unit is at the horizontal center of the mounting hole and the vertical center line of the visual camera is at the vertical center of the mounting hole, the hole-finding operation is achieved. Finally, the bolt assembly tool 2 is operated by the joystick controller 82.

[0148] Furthermore, regarding the case where the insulator 6 is installed on angle steel, before the bolt assembly tool 2 is used, the operating lever controller 82 controls the winding motor 5034 to pass the lifting belt 5035 through the guide block 5038 and lower it to the ground position. The mounting end of the insulator 6 is then installed on the buckle 5036. The winding motor 5034 is then driven to reverse, lifting the lifting belt 5035 upwards. During the lifting process, the mounting end of the insulator 6 is guided by the guide plate 50382 into the space between the fixing plates 50381, and then... The positioning plate 50381 positions the mounting end of the insulator 6, ensuring that the mounting holes on the mounting end of the insulator 6 and the mounting holes on the angle steel are precisely aligned. Then, the bolt assembly tool 2 is operated by the joystick controller 82. After the bolt 3 and nut 4 are installed, the second electric push rod 5037 is expanded by the joystick controller 82 and presses against the safety lock trigger button on the buckle 5036, so that the buckle 5036 is unlocked and separated from the insulator 6. Then, the robotic arm 1 is restored to its initial position by the same type of operator 83.

[0149] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention, and no reference numerals in the claims should be construed as limiting the scope of the claims.

[0150] The above embodiments are merely examples of implementation methods of the invention. The scope of protection of the present invention is not limited to the above embodiments. For those skilled in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all fall within the scope of protection of the present invention.

Claims

1. A high-altitude work robot, characterized in that: This includes a robotic arm and bolt assembly tools; the robotic arm moves the bolt assembly tools. The bolt assembly tool includes a base and bolt clamps, a flipping seat, and a power mechanism mounted on the base. The flipping seat has a sleeve mechanism at the end away from the base. The power mechanism can drive the sleeve mechanism to flip and can drive the sleeve mechanism to move horizontally.

2. The aerial work robot according to claim 1, characterized in that: When the central axis of the sleeve mechanism is coaxial with the clamping center of the bolt jaws, the power mechanism can drive the sleeve mechanism to move horizontally.

3. The aerial work robot according to claim 1, characterized in that: The tilting seat is connected to the base via a rotating shaft, and the output end of the power mechanism is connected to the rotating shaft, which can drive the rotating shaft to rotate and move horizontally on the base.

4. A high-altitude work robot according to claim 3, characterized in that: The base has two sets of first sliding grooves. The end of the rotating shaft away from the flipping seat is set on the first sliding groove, so that the rotating shaft can rotate and move horizontally within the first sliding groove.

5. A high-altitude work robot according to claim 3, characterized in that: A tension spring is installed on the base. One end of the tension spring is fixed to the base, and the other end is connected to a rotating shaft. When the rotating shaft rotates on the base, the tension spring is in the initial state. When the rotating shaft moves horizontally on the base, the tension spring is in the stretched state after the initial state.

6. A high-altitude work robot according to claim 3, characterized in that: The power mechanism includes a first electric push rod, a sliding rack, and a gear. The first electric push rod is mounted on a base. The sliding rack, which is connected to the output end of the first electric push rod, is mounted on the base and can move horizontally. The gear meshing with the sliding rack is fixed on a rotating shaft. The horizontal movement of the sliding rack drives the gear to rotate and move horizontally, thereby driving the rotating shaft to rotate and move horizontally.

7. A high-altitude work robot according to claim 6, characterized in that: The sliding rack has a first inclined surface at the end away from the first electric push rod, and a second inclined surface on the flipping seat. When the central axis of the sleeve mechanism flips to be coaxial with the clamping center of the bolt claw, the second inclined surface fits into the first inclined surface.

8. A high-altitude work robot according to claim 6, characterized in that: The base has two sets of second sliding grooves, and the two ends of the sliding rack are respectively slidably set on the second sliding grooves.

9. A high-altitude work robot according to claim 1, characterized in that: The clamping ends of the bolt clamps are provided with engagement surfaces that mate with the bolt heads.

10. A high-altitude work robot according to claim 1, characterized in that: A connecting seat is also fixed on the base.

11. A high-altitude work robot according to claim 1, characterized in that: The sleeve mechanism includes a nut tightening motor and a sleeve fixed on a flipping seat. When the central axis of the sleeve is flipped to be coaxial with the clamping center of the bolt jaws, the power mechanism can drive the nut tightening motor and the sleeve to move horizontally. The nut tightening motor is used to tighten the nut inside the sleeve.

12. A high-altitude work robot according to claim 11, characterized in that: The sleeve includes a sleeve body, a compression spring, and a nut spring. The sleeve body is rotatably mounted on a flip seat and connected to the output end of a nut tightening motor. Multiple sets of compression springs are evenly distributed around the inner circumference of the sleeve body. The nut spring is movable along the axial direction of the sleeve body and is mounted inside the sleeve body. One end of the compression spring is fixed inside the sleeve body, and the other end is connected to the nut spring.

13. A high-altitude work robot according to claim 12, characterized in that: The end face of the nut spring is always flush with the circumferential surface of the sleeve body.

14. A high-altitude work robot according to claim 1, characterized in that: The bolt assembly tool also includes a hole-finding mechanism, which includes a laser and a vision camera. The laser is set on the jaw end of the bolt clamp, and the vision camera is set on the base. It is used to acquire the position of the mounting hole and process the image. The laser surface emitted by the laser is on the horizontal central axis of the jaw end of the bolt clamp, and the vertical center line displayed in the vision camera is on the vertical central axis of the jaw end of the bolt clamp.

15. A high-altitude work robot according to claim 1, characterized in that: The flip-top is equipped with a camera for observing whether the nut is tightened.

16. A high-altitude work robot according to claim 1, characterized in that: It also includes a work platform, with the end of the robotic arm away from the bolt assembly tool hinged to the work platform; The working platform includes a sliding mechanism and a clamping mechanism mounted on the sliding mechanism. The sliding mechanism can move on the angle steel, and the clamping mechanism is used to clamp the angle steel.

17. A high-altitude work robot according to claim 16, characterized in that: The sliding mechanism includes a sliding platform, a sliding motor, a driving wheel, and a driven wheel. The driving wheel is fixed at one end of the bottom of the sliding platform, and the driven wheel is fixed at the other end. The output end of the sliding motor, which is fixed on the sliding platform, is connected to the driving wheel. One end of the robotic arm is fixed on the sliding platform.

18. A high-altitude work robot according to claim 17, characterized in that: The sliding platform is provided with first guide forks on both sides parallel to its sliding direction. The first guide forks are in the shape of a downward-opening figure eight.

19. A high-altitude work robot according to claim 18, characterized in that: One of the first guide forks is equipped with a platform-mounted camera.

20. A high-altitude work robot according to claim 17, characterized in that: The sliding platform is provided with second guide forks on both sides perpendicular to its sliding direction. The second guide forks are in the shape of an upward-opening figure eight, and electromagnetic pins are provided on the second guide forks.

21. A high-altitude work robot according to claim 17, characterized in that: Multiple proximity switches are installed at the bottom of the sliding platform.

22. A high-altitude work robot according to claim 16, characterized in that: The clamping mechanism includes a mounting base plate, slide rails, clamping racks, clamping wheel frames, clamping wheels, a clamping motor, and clamping gears. The mounting base plate is fixed on the sliding mechanism. Two sets of parallel slide rails perpendicular to the sliding direction of the sliding mechanism are fixed on the mounting base plate. Each set of slide rails is equipped with a sliding clamping rack. The opposite ends of the two sets of clamping racks are connected to a clamping wheel frame. The clamping wheel frame is equipped with clamping wheels for clamping angle steel and capable of rotating on the clamping wheel frame. The clamping motor is fixed on the mounting base plate. The output end of the clamping motor is connected to the clamping gear. The clamping gear is located between the two sets of clamping racks and meshes with the two sets of clamping racks.

23. A high-altitude work robot according to claim 16, characterized in that: The working platform also includes a lifting mechanism mounted on the sliding mechanism. The lifting mechanism includes a reel seat, a reel, guide wheels, a take-up motor, a lifting belt, a buckle, and a second electric push rod. The reel seat is fixed on the sliding mechanism and has a rotatable reel and guide wheels. The output end of the take-up motor, which is fixed on the sliding mechanism, is connected to the reel. One end of the lifting belt is wound around the reel, and the other end extends out of the sliding mechanism after being guided by the guide wheels and is connected to the buckle used to engage the insulator. The second electric push rod is fixed at the bottom of the sliding mechanism to achieve the separation of the buckle from the insulator.

24. A high-altitude work robot according to claim 23, characterized in that: The lifting mechanism also includes a guide block welded between two sets of angle steel. The guide block includes a fixed plate and a guide plate. The two sets of fixed plates are arranged in parallel and welded vertically between the two sets of angle steel. The top of the two sets of guide plates is welded between the two sets of fixed plates, and the bottom is set towards the bottom of the angle steel and expands outward in a trumpet shape.

25. A high-altitude work robot according to claim 24, characterized in that: The spacing between the two sets of fixing plates is the same as the width of the insulator mounting end.

26. A method for operating a high-altitude work robot according to any one of claims 1 to 25, characterized in that: The robotic arm moves the bolt assembly tool and causes the bolt on the bolt clamp to pass through the mounting hole. When the power mechanism drives the central axis of the sleeve mechanism to rotate to be coaxial with the clamping center of the bolt clamp, the power mechanism is then driven to move the sleeve mechanism horizontally towards the bolt clamp, installing the nut inside the sleeve mechanism onto the bolt on the bolt clamp. After installation, the power mechanism drives the flipping seat to move horizontally in the opposite direction. After the sleeve mechanism disengages from the bolt, the power mechanism drives the flipping seat to rotate back to the initial position, and the bolt clamp opens and separates from the bolt.

27. The operating method of the high-altitude work robot according to claim 26, characterized in that: The bolt assembly tool also includes a hole-finding mechanism, which comprises a laser and a vision camera. The laser is mounted on the jaws of the bolt clamp, and the vision camera is mounted on the base. It is used to acquire and process the image of the mounting hole. The laser beam emitted by the laser is positioned on the horizontal central axis of the jaws of the bolt clamp, and the vertical center line displayed by the vision camera is positioned on the vertical central axis of the jaws of the bolt clamp. The specific hole-finding method is as follows: The robotic arm drives the bolt assembly tool to move vertically, so that the laser surface emitted by the laser is at the horizontal center of the mounting hole. The robotic arm also drives the bolt assembly tool to move horizontally, so that the vertical center line of the vision camera is at the vertical center of the mounting hole. When the vision camera shows that the laser surface emitted by the laser is at the horizontal center of the mounting hole and the vertical center line of the vision camera is at the vertical center of the mounting hole, the hole finding operation is achieved.

28. The operating method of the high-altitude work robot according to claim 26, characterized in that: The aerial work robot also includes a work platform, with the end of the robotic arm away from the bolt assembly tool hinged to the work platform; The working platform is equipped with a lifting mechanism, which includes a reel seat, a reel, guide wheels, a take-up motor, a lifting belt, a buckle, a second electric push rod, and a guide block. The reel seat is fixed to the working platform and has a rotatable reel and guide wheels. The output end of the take-up motor, fixed to the working platform, is connected to the reel. One end of the lifting belt is wound around the reel, and the other end extends out of the working platform and is connected to the buckle after being guided by the guide wheels. The second electric push rod is fixed to the bottom of the working platform. The guide block is welded between two sets of angle steel. The guide block includes a fixed plate and a guide plate. The two sets of fixed plates are arranged parallel to each other and welded perpendicularly between the two sets of angle steel. The tops of the two sets of guide plates are welded between the two sets of fixed plates, and the bottoms face the bottom of the angle steel and expand outward in a trumpet shape. The distance between the two sets of fixed plates is the same as the width of the insulator installation end. The specific lifting method is as follows: The drive winding motor passes the lifting belt through the guide block and lowers it to the ground position. The insulator is installed on the buckle. Then the drive winding motor reverses to lift the lifting belt upward. During the lifting process, the insulator mounting end is guided by the guide plate into the space between the fixing plates. The fixing plate positions the insulator mounting end, so that the mounting holes on the insulator mounting end and the mounting holes on the angle steel are precisely aligned.

29. The operating method of the high-altitude work robot according to claim 26, characterized in that: The tilting base is connected to the base via a rotating shaft. The power mechanism includes a first electric push rod, a sliding rack, and a gear. The first electric push rod is mounted on the base. The sliding rack, connected to the output end of the first electric push rod, is horizontally movable and mounted on the base. The gear meshing with the sliding rack is fixed to the rotating shaft. The horizontal movement of the sliding rack drives the gear to rotate and move horizontally, thereby driving the rotating shaft to rotate and move horizontally. A tension spring is mounted on the base, with one end fixed to the base and the other end connected to the rotating shaft. When the rotating shaft rotates on the base, the tension spring is in its initial state. When the rotating shaft moves horizontally on the base, the tension spring is in its stretched state after the initial state. The specific tension of the tension spring... The calculation method is as follows: When the power mechanism applies force to the tilting seat, the rotating shaft on the tilting seat has the following two modes of motion: A: Rotate around the point If the center point of the rotating shaft is subjected to the tension of the spring Greater than the horizontal thrust of the power mechanism This prevents the shaft from moving horizontally on the base, thus reducing the horizontal thrust of the power mechanism. The torque is converted into a torque around the center point of the rotating shaft through the cooperation of the rack and gear, which drives the rotating shaft to rotate and thus drives the flipping seat to rotate. B: Overall sliding If the center point of the rotating shaft is subjected to the tension of the spring Less than the horizontal thrust of the power mechanism The shaft does not rotate; instead, it moves horizontally on the base to drive the flipping seat to move horizontally. In order to ensure that the shaft rotates without moving horizontally, the following conditions must be met: in: It is the tension applied by the tension spring. It is the horizontal thrust of the power mechanism; The total mass of the flipping seat and the sleeve mechanism is The perpendicular distance between the center of mass of the integral structure formed by the flip-up seat and the sleeve mechanism and the center of the rotating shaft is... The gear pitch circle radius is ; The unbalanced torque required for the shaft to rotate for: This means that the rack needs to provide a torque of not less than [amount missing]. Only then can the rotating shaft be driven to rotate, and the torque required by the rack is provided by the horizontal thrust of the power mechanism. Provided, therefore, the horizontal thrust of the power mechanism for: Therefore, the tension of the tension spring The following conditions must be met: 。 30. A collaborative system employing the aerial work robot according to any one of claims 1 to 25, characterized in that: This includes drones and aerial work robots, with drones used to lift aerial work robots to high-altitude work positions.

31. The collaborative system for a high-altitude work robot according to claim 30, characterized in that: The drone consists of the drone body and a guide fork. The guide fork is attached to the bottom of the drone body and can be detachably connected to the aerial work robot.

32. The collaborative system for high-altitude work robots according to claim 31, characterized in that: The guide fork includes a connecting rod and a U-shaped connector. One end of the connecting rod is connected to the drone body, and the other end is connected to the outer center of the base of the U-shaped connector. Connecting holes are provided on both vertical connecting plates at the open end of the U-shaped connector.

33. The collaborative system for high-altitude work robots according to claim 32, characterized in that: The U-shaped connector has a drone positioning camera fixed inside its base.

34. The collaborative system for a high-altitude work robot according to claim 30, characterized in that: The aerial work robot is equipped with a falling alignment camera.

35. The collaborative system for a high-altitude work robot according to claim 30, characterized in that: It also includes a ground operating system that is wirelessly connected to the robotic arm and bolt assembly tools. The ground operating system includes a display unit, joystick controller, isomorphic manipulator, end effector, and pre-positioning device. The display unit is used to display real-time visual images from each camera and to realize real-time 3D visualization of the robotic arm based on the Unity environment. By importing the 3D models of bolt assembly tools and angle steel, it completes real-time feedback of pose data. The joystick controller integrates a joystick and button module to control the position adjustment of the robotic arm and the operation of bolt assembly tools. It also completes the control command issuance and image processing tasks through the control drive board and NUC computer. The isomorphic manipulator is a scaled-down isomorphic mapping mechanism for the robotic arm, used to guide the robotic arm to the work area; by manipulating the angles of each joint of the isomorphic manipulator, the posture of the corresponding joints of the robotic arm is mapped and adjusted. The end effector is fixed to the end of the isomorphic manipulator, and its spatial position is consistent with the working posture of the bolt assembly tool. The positional relationship between the pre-positioning device and the isomorphic manipulator is the same as the positional relationship between the mounting hole and the robotic arm.

36. The collaborative system for high-altitude work robots according to claim 35, characterized in that: The display unit includes two sets of displays. One set of displays shows the real-time visual images from each camera, while the other set of displays uses the Unity environment to achieve real-time 3D visualization of the robotic arm. By importing the operation tools and the 3D model of the tower head, it completes real-time feedback of pose data, providing intuitive support for installation operations and status monitoring.

37. The collaborative system for high-altitude work robots according to claim 35, characterized in that: The joints of the isomorphic manipulator are controlled by force-controlled motors to achieve torque maintenance and attitude self-locking in the non-operational state.

38. A collaborative method using the collaborative system of the aerial work robot according to any one of claims 30-37, characterized in that: The collaborative system also includes a ground operating system that is wirelessly connected to the robotic arm and bolt assembly tools. The ground operating system includes a display unit, joystick controller, isomorphic manipulator, end effector, and pre-positioning device. The display unit is used to display real-time visual images from each camera and to realize real-time 3D visualization of the robotic arm based on the Unity environment. By importing the 3D models of bolt assembly tools and angle steel, it completes real-time feedback of pose data. The joystick controller integrates a joystick and button module to control the position adjustment of the robotic arm and the operation of bolt assembly tools. It also completes the control command issuance and image processing tasks through the control drive board and NUC computer. The isomorphic manipulator is a scaled-down isomorphic mapping mechanism for the robotic arm, used to guide the robotic arm to the work area; by manipulating the angles of each joint of the isomorphic manipulator, the posture of the corresponding joint of the robotic arm is mapped and adjusted. The end effector is fixed to the end of the isomorphic manipulator, and its spatial position is consistent with the bolt working posture on the bolt assembly tool. The positional relationship between the pre-positioning device and the isomorphic manipulator is the same as the positional relationship between the mounting hole and the robotic arm. The collaboration method is as follows: Based on the camera display in the display unit and the real-time feedback of the three-dimensional pose data of the robotic arm based on the Unity environment, the end effector is inserted into the pre-positioning device by operating the isomorphic manipulator. The robotic arm follows the pose change of the isomorphic manipulator in real time and moves to the working posture before perforation. During the movement, the pose parameters of the robotic arm are observed in real time based on the three-dimensional data model in the Unity environment. Then, the bolt assembly tool is operated by controlling the joystick controller. The joystick controller controls the power mechanism to rotate the central axis of the sleeve mechanism to be coaxial with the clamping center of the bolt jaws. Then, the power mechanism drives the sleeve mechanism to move horizontally towards the bolt jaws, installing the nut in the sleeve mechanism onto the bolt on the bolt jaws. After installation, the power mechanism drives the flipping seat to move horizontally in the opposite direction. After the sleeve mechanism is disengaged from the bolt, the power mechanism drives the flipping seat to rotate back to the initial position, and the bolt jaws open and separate from the bolt. After the nuts and bolts are installed, the robotic arm is restored to its initial position by operating the same type of operator.

39. The collaborative method of the collaborative system for high-altitude work robots according to claim 38, characterized in that: The aerial work robot also includes a work platform that is wirelessly connected to the ground operating system. The end of the robotic arm away from the bolt assembly tool is hinged to the work platform. The work platform includes a sliding mechanism and a clamping mechanism set on the sliding mechanism. The sliding mechanism can move on the angle steel, and the clamping mechanism is used to clamp the angle steel. The bolt assembly tool also includes a hole-finding mechanism that is wirelessly connected to the ground operating system. The hole-finding mechanism includes a laser and a vision camera. The laser is set on the jaw end of the bolt clamp, and the vision camera is set on the base. The laser surface emitted by the laser is on the horizontal central axis plane of the jaw end of the bolt clamp, and the vertical center line displayed in the vision camera is on the vertical central axis plane of the jaw end of the bolt clamp. The sliding mechanism is controlled to move on the angle steel by the joystick controller, and the clamping mechanism is controlled to fix the work platform on the angle steel. By operating the isomorphic manipulator to drive the robotic arm to move vertically, the bolt assembly tool is moved vertically, so that the laser surface emitted by the display laser in the display unit is at the horizontal center of the mounting hole. Then, by operating the isomorphic manipulator to drive the robotic arm to move horizontally, the bolt assembly tool is moved horizontally, so that the vertical center line of the display vision camera in the display unit is at the vertical center of the mounting hole. When the laser surface emitted by the display laser in the display unit is at the horizontal center of the mounting hole and the vertical center line of the vision camera is at the vertical center of the mounting hole, the hole finding operation is achieved. Then, the bolt assembly tool is controlled to operate by the joystick controller.

40. The collaborative method of the collaborative system for high-altitude work robots according to claim 38, characterized in that: The aerial work robot also includes a work platform that is wirelessly connected to the ground operating system. The end of the robotic arm furthest from the bolt assembly tool is hinged to the work platform. The working platform is equipped with a lifting mechanism, which includes a reel seat, a reel, guide wheels, a take-up motor, a lifting belt, a buckle, a second electric push rod, and a guide block. The reel seat is fixed to the working platform and has a rotatable reel and guide wheels. The output end of the take-up motor, which is fixed to the working platform, is connected to the reel. One end of the lifting belt is wound around the reel, and the other end extends out of the working platform and is connected to the buckle after being guided by the guide wheels. The second electric push rod is fixed to the bottom of the working platform. The guide block is welded between two sets of angle steel. The guide block includes a fixed plate and a guide plate. The two sets of fixed plates are arranged in parallel and welded perpendicularly between the two sets of angle steel. The top of the two sets of guide plates is welded between the two sets of fixed plates, and the bottom of the guide plates faces the bottom of the angle steel and expands outward in a trumpet shape. The distance between the two sets of fixed plates is the same as the width of the insulator installation end. The joystick controller controls the winding motor to pass the lifting belt through the guide block and lower it to the ground position. The insulator is installed on the buckle. Then, the winding motor is driven to reverse and lift the lifting belt upward. During the lifting process, the insulator installation end is guided by the guide plate into the space between the fixing plates. The fixing plates position the insulator installation end, ensuring that the installation holes on the insulator installation end and the installation holes on the angle steel are precisely aligned. The joystick controller then controls the bolt assembly tool to operate. After the bolt and nut are installed, the joystick controller controls the second electric push rod to expand and press against the buckle, unlocking and separating the buckle from the insulator. The same type of operator returns the robotic arm to the initial position.

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