An aviation warning ball installation robot

Abstract

The application discloses an aviation warning ball mounting robot, which comprises a main frame body, a wire falling and clamping device, a mounting device and a unmanned aerial vehicle. The wire falling and clamping device is arranged on both sides of the upper frame body, and an open guide area is formed at the bottom of the wire falling and clamping device, which is used for quickly guiding the guide wire to slide in when the unmanned aerial vehicle drives the robot to fall, and realizing flexible constant force clamping of the guide wire through a clamping driving assembly. The mounting device is arranged on the inner side of the wire falling and clamping device, and through a folding assembly, the warning ball fixing assembly and the hemispherical assembly on both sides are driven to approach each other, so that the precise alignment and automatic plug-in locking of the warning ball on the guide wire are realized. The warning ball mounting robot designed by the application realizes quick fault-tolerant wire falling and clamping, and significantly improves the mounting efficiency and folding success rate of the warning ball.

Description

Technical Field

[0001] This invention belongs to the field of warning ball installation technology, specifically relating to an aviation warning ball installation robot. Background Technology

[0002] Aviation warning balls are typically installed on ultra-high voltage power transmission lines or overhead power lines crossing rivers to provide visual warnings for helicopters, drones, and other low-altitude aircraft, preventing them from touching the power lines and causing major safety accidents.

[0003] Currently, the traditional method of installing warning lights mainly relies on power workers carrying the warning lights up the power lines for high-altitude work. This manual installation method is not only extremely dangerous and labor-intensive, but also inefficient, often requiring prolonged power outages and resulting in economic losses. Summary of the Invention

[0004] The purpose of this invention is to provide an aviation warning ball installation robot to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an aviation warning ball installation robot, comprising a main frame, including an upper frame and a lower frame disposed at the bottom of the upper frame; A wire clamping device is disposed on both sides of the upper frame and includes a guide clamping assembly and a clamping drive assembly. The bottom of the guide clamping assembly has an open guide area for guiding the wire into the guide clamping assembly when the robot falls. The clamping drive assembly is driven to the guide clamping assembly and is used to drive the guide clamping assembly to retract to clamp the wire. An installation device is located inside the wire clamping device and connected to the upper frame. The installation device includes a warning ball closing assembly and two warning ball fixing assemblies. Two hemispherical components are fixed to the corresponding warning ball fixing components; The drone is connected to the upper frame. The warning ball closing assembly is connected to the two warning ball fixing assemblies respectively, and is used to drive the two warning ball fixing assemblies to move closer to each other so that the two hemispherical assemblies close together and cover the conductor.

[0006] Furthermore, the upper frame includes first support arms disposed on both sides, and each first support arm is connected to a wire clamping device.

[0007] Furthermore, the guide clamping assembly includes a first guide fixedly connected to the first support arm, a second guide fixedly connected to the clamping drive assembly, and a baffle fixedly connected to the inner side of the upper end of the second guide. The clamping drive assembly is used to drive the second guide to move along the length direction of the first support arm, and the first guide is provided with a through hole for the baffle to pass through.

[0008] Furthermore, the first guide is a long, straight strip; the second guide includes a vertical clamping portion and an inclined guiding portion, the vertical clamping portion being opposite to and parallel to the first guide, and the inclined guiding portion extending inclinedly outward from the lower end of the vertical clamping portion; the open-shaped guide area is formed between the inclined guiding portion and the lower end of the first guide.

[0009] Furthermore, the first support arm has a mounting groove extending along its length; the clamping drive assembly is disposed in the mounting groove and includes a first slide rail, a first motor, a first lead screw fixing block, a first lead screw, a first drive block, a connecting block, a spring, and two first sliders; The first slide rail, the first motor, and the first lead screw fixing block are all fixedly connected to the first support arm; The first lead screw is connected between the output shaft of the first motor and the first lead screw fixing block; Both first sliders are slidably connected to the first slide rail; The first drive block is fixedly connected to one of the first sliders and threadedly connected to the first lead screw; The connecting block is fixedly connected to another of the first sliders and is slidably penetrated by the first lead screw; The spring is sleeved on the first lead screw and is located between the first drive block and the connecting block; The lower end of the connecting block is fixedly connected to the top of the second guide.

[0010] Furthermore, the warning ball closing assembly includes two spaced-apart third support arms and four second actuators; each of the third support arms is equipped with two second actuators; the moving ends of two second actuators located on the same side are connected to the same warning ball fixing assembly, for driving the warning ball fixing assembly to move along the length direction of the third support arm.

[0011] Furthermore, the warning ball fixing assembly includes a first connecting seat, an adjusting seat, and an electric gripper; the first connecting seat is connected to the moving end of the second driver, the adjusting seat is connected to the middle of the first connecting seat, and the electric gripper is connected to the adjusting seat; the electric gripper is used to clamp the hemispherical assembly.

[0012] Furthermore, each of the hemispherical assemblies includes a hemisphere, a first connector, a second connector, and an elastic pad; a spring-loaded locking pin is provided between the two hemispherical assemblies for locking. The first connector is disposed on both sides of the hemisphere and is fixedly connected to the elastic pad. Both the first connector and the elastic pad are provided with coaxial mounting holes. The second connector is fixed to the bottom of the hemisphere and is used to be clamped and positioned by the warning ball fixing assembly; In one of the two hemispherical assemblies, the spring clip is disposed on the first connector of one of the hemispherical assemblies; When the two hemispherical components come close together, the spring clip is inserted into the mounting hole of the other hemispherical component, thereby locking and fixing the two hemispheres.

[0013] Furthermore, the robot also includes an adjustment device, which includes an adjustment drive assembly, a second connecting seat, and a counterweight box; The lower frame includes two pairs of second support arms, which are respectively located on the other opposite sides of the upper frame where the wire clamping device is not installed, and both extend vertically downward from the upper frame. The adjustment drive assembly is provided on both of the second support arms on the same side, and the moving ends of the two adjustment drive assemblies on the same side are connected to the same second connecting seat. The number of counterweight boxes is two, and the two counterweight boxes are respectively fixedly connected to the second connecting seats on both sides; The adjustment drive assembly is used to drive the second connecting seat to move the counterweight box vertically up and down along the second support arm, so as to lower the overall center of gravity after the robot is placed on the line.

[0014] Furthermore, each of the counterweight boxes is equipped with a battery and a counterweight block. The battery is used to power the robot, and the battery and the counterweight block together serve as counterweight components to lower the overall center of gravity.

[0015] The technical effects and advantages of this invention are as follows: A drone can carry the installation robot to any working position above the conductor. Utilizing the open guide area at the bottom of the wire clamping device, the drone simply lowers the robot slowly, allowing the conductor to automatically slide in and quickly fall. Subsequently, the clamping drive assembly drives the second guide to firmly clamp the conductor, stabilizing the entire robot on the conductor. Finally, the installation device synchronously and steadily pushes the hemispherical components on both sides towards the center, automatically completing the closure and installation of the warning ball. The entire process eliminates manual high-altitude contact work, greatly reducing the risk factor and improving installation efficiency. Furthermore, by adding an adjustment device, after the robot clamps the conductor, it can drive the counterweight boxes mounted on both sides to move vertically downwards along the second support arm. This action lowers the robot's overall center of gravity below the conductor, providing a stable platform for the precise closure of the warning ball. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the present invention; Figure 2 This is a schematic diagram of the structure of the present invention after removing the drone; Figure 3 For the present invention Figure 1 Front view structural diagram; Figure 4 For the present invention Figure 3 Enlarged view of part A in the middle; Figure 5 This is an exploded schematic diagram of the wire clamping device of the present invention; Figure 6 This is a schematic diagram of the clamping drive assembly structure of the present invention; Figure 7 A schematic diagram of the adjustment drive component structure; Figure 8 This is a schematic diagram of the warning ball closing assembly structure; Figure 9 This is a schematic diagram of the structure of the warning ball fixing assembly; Figure 10 Schematic diagram of the explosion of the warning ball fixing component; Figure 11 for Figure 9 Enlarged view of part B in the middle section; Figure 12 This is a schematic diagram of a spring-loaded latch structure.

[0017] In the picture: 10. Main frame; 110 Upper frame, 111 First support arm, 120 Lower frame, 121 Second support arm; 20. Wire clamping device; 210 Guide clamping assembly, 211 First guide, 212 Second guide, 213 Baffle, 214 First anti-slip pad, 215 Second anti-slip pad, 216 Through hole; 220 Clamping drive assembly, 221 First slide rail, 222 First motor, 223 First lead screw, 224 First drive block, 225 Connecting block, 226 First slider, 227 Spring, 228 First lead screw fixing block; 30 Installation device; 310 Warning ball closing assembly, 311 Third support arm, 312 Second actuator; 320 Warning ball fixing assembly, 321 Electric gripper, 322 First connecting seat, 323 Adjusting seat; 40 hemispherical components; 410 Hemisphere, 420 First connector, 430 Spring pin, 431 Pin body, 432 Block, 433 Base, 440 Second connector, 450 Elastic pad; 50 Adjustment Device; 510 Adjustment drive assembly, 511 Second slide rail, 512 Second motor, 513 Second lead screw, 514 Second drive block, 515 Second slider, 516 Second lead screw fixing block, 520 Second connecting seat, 530 Counterweight box; 60 drones. Detailed Implementation

[0018] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0019] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0020] In the description of this invention, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0021] In the description of this invention, unless otherwise explicitly defined, terms such as "setting," "installing," and "connecting" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution. Example

[0022] like Figures 1-4 As shown, an aerial warning ball installation robot includes a main frame 10, which includes an upper frame 110 and a lower frame 120 located at the bottom of the upper frame 110. A drone 60 is fixedly connected to the upper frame 110, thereby providing power to propel the entire device to a high-altitude installation location; simultaneously, when on the ground, the lower frame 120 provides stable support when placing the warning ball into the device.

[0023] To enable the robot to land quickly on the wire and stabilize its working posture, this embodiment includes a wire-landing clamping device 20. The wire-landing clamping device 20 is located on both sides of the upper frame 110 and includes a guide clamping assembly 210 and a clamping drive assembly 220. The bottom of the guide clamping assembly 210 has an open-shaped guide area. This open guide area allows the drone to land without precisely aligning with the wire in the air; it only needs to confirm that the wire is approximately within the guide area. During descent, the robot can smoothly guide the wire into the guide clamping assembly 210 using the open ramp. Furthermore, since the clamping drive assembly 220 is connected to the guide clamping assembly 210, the drive action of the clamping drive assembly 220 causes the guide clamping assembly 210 to retract and clamp the wire, thereby securely locking the robot onto the wire.

[0024] In addition, the robot includes an installation device 30, which is located inside the wire clamping device 20 and connected to the upper frame 110. The installation device 30 includes a warning ball closing assembly 310 and two warning ball fixing assemblies 320. The two warning ball fixing assemblies 320 are symmetrically arranged inside the warning ball closing assembly 310, used to clamp and precisely position the two hemispherical assemblies 40 of the warning ball. After the robot clamps the wire, the warning ball closing assembly 310 drives the two warning ball fixing assemblies 320 closer together through a synchronized axial thrust, so that the two hemispherical assemblies 40 precisely close and cover and fix to the wire. After the installation of the wire warning ball is completed, the warning ball fixing assemblies 320 are released, and the entire robot body is then carried back to the ground by the drone 60 to replenish new hemispherical assemblies 40 and fly to the next installation location for continuous construction work.

[0025] like Figure 2As shown, in this embodiment, the upper frame 110 includes first support arms 111 disposed on both sides thereon, with at least one first support arm 111 disposed on each side, and each first support arm 111 is connected to a wire clamping device 20.

[0026] like Figures 3-6 As shown, in order to achieve smooth wire drop and reliable clamping, the guide clamping assembly 210 includes a first guide 211 fixedly connected to the first support arm 111 and a second guide 212 connected to the clamping drive assembly 220. Specifically, the first guide 211 is a long strip straight plate, and the second guide 212 includes a vertical clamping part parallel to the first guide 211 and an inclined guide part that tilts outward. Thus, an open guide area is formed between the inclined guide part and the lower end of the first guide 211. When the wire falls into the open guide area, it will slowly slide into the vertical clamping part.

[0027] In addition, a baffle 213 is fixedly connected to the inner side of the upper end of the second guide 212. The corresponding first guide 211 is provided with a through hole 216 for the baffle 213 to pass through. When the second guide 212 closes and clamps the first guide 211, the clamping drive assembly 220 drives the second guide 212 to move along the length direction of the first support arm 111. The baffle 213 passes through the through hole 216 and clamps the wire with the first guide 211 and the second guide 212. It is worth noting that the inner sides of the first guide 211 and the second guide 212 are respectively provided with a first anti-slip pad 214 and a second anti-slip pad 215 to increase anti-slip properties.

[0028] For structural compactness, the first support arm 111 has a mounting groove extending along its length. The clamping drive assembly 220 is placed in the mounting groove. The clamping drive assembly 220 includes a first slide rail 221, a first motor 222, a first lead screw fixing block 228, a first lead screw 223, a first drive block 224, a connecting block 225, a spring 227, and two first sliders 226. Its working process is as follows: the first motor 222 drives the first lead screw 223 to rotate; since the first drive block 224 is threadedly engaged with the first lead screw 223, and the first drive block 224 is fixedly connected to one of the first sliders 226 that slides on the first slide rail 221, the rotational motion is converted into a linear translational motion of the first drive block 224 along the first slide rail 221. Furthermore, since a spring 227 is fitted between the first drive block 224 and the connecting block 225 (the connecting block 225 is fixed on another first slider 226), the thrust of the first drive block 224 is flexibly transmitted to the connecting block 225 through the compression spring 227, which in turn drives the second guide 212 to slide smoothly along the first support arm 111. This structure not only achieves precise positioning, but the spring 227 can also effectively buffer the rigid thrust of the motor and form a flexible constant force clamp on the wire, avoiding damage to the wire or motor stall. In addition, when the warning ball is installed and the robot needs to return to the ground, the first motor 222 reverses, driving the connecting block 225 and the second guide 212 to retract, thereby releasing the wire, allowing the robot to easily detach from the wire and be taken back by the drone.

[0029] like Figure 2 and Figure 8 As shown, to achieve precise installation of the warning ball, the warning ball closing assembly 310 includes two spaced-apart third support arms 311. Their structure is the same as the first support arm 111, with two second actuators 312 symmetrically placed within each third support arm 311. In this embodiment, the second actuators 312 can also employ a linear drive method using a motor and a lead screw; their specific internal structure will not be described in detail here. The moving ends of the two second actuators 312 located on the same side (i.e., the side perpendicular to the length direction of the third support arm 311) are connected to the same warning ball fixing assembly 320, thereby smoothly driving the warning ball fixing assembly 320 to move along the length direction of the third support arm 311.

[0030] like Figures 9-12 As shown, specifically, the warning ball fixing assembly 320 includes a first connecting seat 322, an adjusting seat 323, and an electric gripper 321. The first connecting seat 322 is fixedly connected to the moving ends of two second actuators 312 on the same side, the adjusting seat 323 is connected to the middle of the first connecting seat 322, and the electric gripper 321 is connected to the adjusting seat 323 for gripping the hemispherical assembly 40.

[0031] It is particularly important to note that after the hemispherical assembly 40 is closed, the position of the wire clamp inside must precisely correspond to the position of the lower surface of the upper baffle 213 to ensure that the wire is exactly at the center of the sphere when the warning ball is closed. Therefore, by setting the adjustment seat 323, the operator can fine-tune and confirm the relative initial position of the electric gripper 321 and the first connecting seat 322 before takeoff from the ground, and then fix the adjustment seat 323 to the first connecting seat 322.

[0032] Furthermore, to achieve rapid and automatic aerial assembly of the warning ball, this invention divides it into two symmetrical hemispherical components 40. Each hemispherical component 40 includes a hemisphere 410, with first connectors 420 on both sides of the hemisphere 410, and elastic pads 450 attached to the first connectors 420. Both the first connectors 420 and the elastic pads 450 have coaxial mounting holes for the spring clips 430 to pass through.

[0033] During initial assembly, the spring-loaded latch 430 is pre-installed only on the first connector 420 of one of the hemispherical components 40. The specific structure of the spring-loaded latch 430 includes a latch body 431, a latching block 432, and a base 433; the base 433 is fixed to the first connector 420, and its latch body 431 passes through the mounting hole on that side. When the electric grippers 321 on both sides push the two hemispherical components 40 together, the latch body 431 will insert into and pass through the mounting hole of the first connector 420 of the other hemispherical component 40, and then the latching block 432 will pop out to automatically lock the assembly.

[0034] At the moment of closure, the elastic pads 450 on both sides are compressed, providing a uniform and continuous pre-tightening force for the two hemispheres 410, ensuring that the assembled hemispheres fit tightly against the wire surface without loosening or slipping. Furthermore, a second connector 440 is fixed to the bottom of each hemisphere 410, specifically designed for stable clamping by the electric gripper 321. Once the spring clip 430 is locked in place, the electric gripper 321 releases the second connector 440, the first connector 322 returns to its original position, and the entire robot can then be removed from the wire by the drone. Example

[0035] like Figure 2 and Figure 7 As shown, based on Embodiment 1, this embodiment further adds an adjustment device 50 to enhance the robot's posture stability when working at heights.

[0036] Specifically, the adjustment device 50 includes an adjustment drive assembly 510, a second connecting seat 520, and a counterweight box 530. The lower frame 120 includes two pairs of second support arms 121, the structure of which is the same as that of the first support arm 111. The two pairs of second support arms 121 are respectively located on the other opposite sides of the upper frame 110 where the wire clamping device 20 is not provided, and both extend vertically downward from the upper frame 110.

[0037] Both second support arms 121 on the same side are equipped with adjustment drive assemblies 510. Each adjustment drive assembly 510 includes a second slide rail 511, a second motor 512, a second lead screw 513, a second drive block 514, a second slider 515, and a second lead screw fixing block 516. The second slide rail 511 is fixed vertically to the inner side of the second support arm 121, and the second lead screw 513 is installed between the second motor 512 and the second lead screw fixing block 516. The second drive block 514 is fixedly connected to the second slider 515, and the second slider 515 is slidably connected to the second slide rail 511. When the second motor 512 drives the second lead screw 513 to rotate, it causes the second drive block 514 to smoothly rise and fall along the second slide rail 511.

[0038] Furthermore, two second drive blocks 514 on the same side are connected together between the same second connecting base 520 and are used to suspend the counterweight box 530. Each counterweight box 530 contains a large-mass battery and / or counterweight. The battery not only powers the entire robot system but also, together with the counterweight, achieves a dual-purpose counterweight function.

[0039] Its dynamic adjustment working principle and beneficial effects are as follows: As the drone carrying the robot flies above the guide wire, the adjustment drive component 510 retracts upwards, causing the counterweight box 530 to rise and approach the upper frame 110, thus making the overall structure more compact and effectively reducing wind resistance and inertial sway during flight. After the robot accurately lands on the guide wire and completes clamping, the second motor 512 starts, driving the counterweight box 530 to move vertically downwards and away from the upper frame 110. This action significantly lowers the robot's overall center of gravity to below the guide wire, enhancing its resistance to crosswinds and preventing tipping stability during subsequent warning ball installation operations.

[0040] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments, and various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of the present invention. Furthermore, in the description of the present invention, the reference to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., means that the specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any suitable manner in one or more embodiments or examples.

Claims

1. A robot for installing aviation warning balls, characterized in that, include: The main frame (10) includes an upper frame (110) and a lower frame (120) located at the bottom of the upper frame (110). A wire clamping device (20) is disposed on both sides of the upper frame (110), including a guide clamping assembly (210) and a clamping drive assembly (220). The bottom of the guide clamping assembly (210) has an open guide area for guiding the wire into the guide clamping assembly (210) when the robot falls. The clamping drive assembly (220) is connected to the guide clamping assembly (210) for driving the guide clamping assembly (210) to retract to clamp the wire. The mounting device (30) is located inside the wire clamping device (20) and connected to the upper frame (110). The mounting device (30) includes a warning ball closing assembly (310) and two warning ball fixing assemblies (320). Two hemispherical components (40) are fixed to the corresponding warning ball fixing components (320); The drone (60) is connected to the upper frame (110); The warning ball closing assembly (310) is connected to the two warning ball fixing assemblies (320) respectively, and is used to drive the two warning ball fixing assemblies (320) to move closer to each other so that the two hemispherical assemblies (40) close and cover the conductor.

2. The aviation warning ball installation robot according to claim 1, characterized in that: The upper frame (110) includes first support arms (111) on both sides, and each first support arm (111) is connected to a wire clamping device (20).

3. The aviation warning ball installation robot according to claim 2, characterized in that: The guide clamp assembly (210) includes a first guide (211) fixedly connected to the first support arm (111), a second guide (212) connected to the clamping drive assembly (220), and a baffle (213) fixedly connected to the inner side of the upper end of the second guide (212). The clamping drive assembly (220) is used to drive the second guide (212) to move along the length direction of the first support arm (111). The first guide (211) is provided with a through hole (216) for the baffle (213) to pass through.

4. The aviation warning ball installation robot according to claim 3, characterized in that: The first guide (211) is a long strip straight plate; the second guide (212) includes a vertical clamping part and an inclined guiding part. The vertical clamping part is opposite to and parallel to the first guide (211), and the inclined guiding part extends inclinedly outward from the lower end of the vertical clamping part; the open-shaped guiding area is formed between the inclined guiding part and the lower end of the first guide (211).

5. The aviation warning ball installation robot according to claim 3, characterized in that: The first support arm (111) has a mounting groove extending along its length; the clamping drive assembly (220) is disposed in the mounting groove and includes a first slide rail (221), a first motor (222), a first lead screw fixing block (228), a first lead screw (223), a first drive block (224), a connecting block (225), a spring (227), and two first sliders (226); The first slide rail (221), the first motor (222), and the first lead screw fixing block (228) are all fixedly connected to the first support arm (111); The first lead screw (223) is connected between the output shaft of the first motor (222) and the first lead screw fixing block (228); Both of the first sliders (226) are slidably connected to the first slide rail (221); The first drive block (224) is fixedly connected to one of the first sliders (226) and threadedly connected to the first lead screw (223); The connecting block (225) is fixedly connected to another first slider (226) and is slidably penetrated by the first lead screw (223); The spring (227) is sleeved on the first lead screw (223) and located between the first drive block (224) and the connecting block (225); The lower end of the connecting block (225) is fixedly connected to the top of the second guide (212).

6. The aviation warning ball installation robot according to claim 1, characterized in that: The warning ball closing assembly (310) includes two spaced-apart third support arms (311) and four second actuators (312); each of the third support arms (311) is equipped with two second actuators (312); the moving ends of the two second actuators (312) located on the same side are connected to the same warning ball fixing assembly (320) for driving the warning ball fixing assembly (320) to move along the length direction of the third support arm (311).

7. The aviation warning ball installation robot according to claim 6, characterized in that: The warning ball fixing assembly (320) includes a first connecting seat (322), an adjusting seat (323), and an electric gripper (321); the first connecting seat (322) is connected to the moving end of the second driver (312), the adjusting seat (323) is connected to the middle of the first connecting seat (322), and the electric gripper (321) is connected to the adjusting seat (323); the electric gripper (321) is used to hold the hemispherical assembly (40).

8. The aviation warning ball installation robot according to claim 1, characterized in that: Each of the hemispherical components (40) includes a hemisphere (410), a first connector (420), a second connector (440), and an elastic pad (450). A spring catch (430) for locking is provided between the two hemispherical assemblies (40). The first connector (420) is disposed on both sides of the hemisphere (410) and fixedly connected to the elastic pad (450). Both the first connector (420) and the elastic pad (450) are provided with coaxial mounting holes. The second connector (440) is fixed to the bottom of the hemisphere (410) and is used to be clamped and positioned by the warning ball fixing assembly (320); In one of the two hemispherical assemblies (40), the spring clip (430) is disposed on the first connector (420) of one of the hemispherical assemblies (40); When the two hemispherical components (40) come close to each other, the spring clip (430) is inserted into the mounting hole of the other hemispherical component (40), thereby locking and fixing the two hemispheres (410).

9. The aviation warning ball installation robot according to claim 1, characterized in that: The robot also includes an adjustment device (50), which includes an adjustment drive assembly (510), a second connecting seat (520), and a counterweight box (530). The lower frame (120) includes two pairs of second support arms (121), which are respectively located on the other opposite sides of the upper frame (110) where the wire clamping device (20) is not provided, and both extend vertically downward from the upper frame (110). The two second support arms (121) on the same side are each provided with the adjustment drive assembly (510), and the moving ends of the two adjustment drive assemblies (510) on the same side are connected to the same second connecting seat (520). The number of the counterweight boxes (530) is two, and the two counterweight boxes (530) are respectively fixedly connected to the second connecting seats (520) on both sides; The adjustment drive assembly (510) is used to drive the second connecting seat (520) to move the counterweight box (530) vertically up and down along the second support arm (121) so as to lower the overall center of gravity after the robot is placed on the line.

10. The aviation warning ball installation robot according to claim 9, characterized in that: Each of the counterweight boxes (530) is equipped with a battery and a counterweight block inside. The battery is used to power the robot, and the battery and the counterweight block together serve as counterweight components to lower the overall center of gravity.

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