A wire drop guiding adjustable rotor work robot

Abstract

The application provides a line-falling guide adjustable rotor operation robot, and relates to the field of unmanned aerial vehicles, which comprises a fuselage, symmetrical branch arms arranged on both sides, a mechanical arm arranged at the bottom of the fuselage, an adjustable walking wheel mechanism, a landing gear obliquely arranged on the outer side of the walking wheel and capable of moving synchronously with the walking wheel, a telescopic inner guide mechanism arranged at the front end and / or rear end of the fuselage, comprising a vertical push rod and two guide rod assemblies, each of the guide rod assemblies comprising at least two guide rod bodies connected with each other and capable of realizing relative axial movement, and the two ends of each of the guide rod assemblies being hingedly connected with the output end of the vertical push rod and the inner side of the walking wheel respectively, the vertical push rod being capable of driving the guide rod assemblies to expand or contract, and the mechanical arm being provided with operation space when being contracted. The line-falling guide adjustable rotor operation robot can realize the expansion and contraction of the guide mechanism, improve the operation stroke of the mechanical arm, and improve the reliability and stability of unmanned inspection and maintenance of high-voltage transmission lines.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicles (UAVs), and in particular to a drop-line guided adjustable rotorcraft robot. Background Technology

[0002] In high-voltage and ultra-high-voltage overhead power transmission systems, multi-split conductors with 2, 4, 6, or even 8 splits are widely used to increase transmission capacity and reduce corona loss. Overhead lines are exposed to the outdoor environment for extended periods, making them prone to defects such as broken conductor strands, loose fittings, hanging foreign objects, and deteriorated insulators. Regular inspections and live-line maintenance are necessary.

[0003] Traditional manual live-line work suffers from high safety risks, low efficiency, and significant limitations imposed by terrain and environment. With the development of automation technology, rotary-wing live-line working robots, capable of autonomously flying to land on power lines, walking along conductors, and performing inspection and maintenance tasks, have become the mainstream research and development direction for power grid operation and maintenance equipment. These devices rely on wheel sets to carry the conductors, using a guiding mechanism to help the conductors accurately enter the wheel grooves, while simultaneously carrying a robotic arm to perform various live-line operations.

[0004] In existing technologies, the outward-extending guide structure occupies the working space under the fuselage. When the multi-degree-of-freedom robotic arm, detection probe, or other loads mounted on the fuselage need to extend outward to perform operations, the guide structure will directly hinder the movement of the loads and limit the working stroke. In severe cases, collisions may occur, causing damage to the equipment. Furthermore, detachable guides rely on manual high-altitude disassembly and assembly, which is completely unsuitable for unmanned autonomous operation scenarios. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a compact, adjustable rotary-wing robot with a guide mechanism that can open and close, thereby increasing the working stroke of the robotic arm.

[0006] This invention provides a drop-line guided adjustable rotorcraft robot, comprising: The fuselage 1 has symmetrical support arms 2 on both sides, and the ends of the support arms 2 are equipped with propellers. Robotic arm 7 is located at the bottom of the body 1; The adjustable walking wheel mechanism 4 consists of multiple wheels symmetrically arranged on both sides of the machine body 1, including walking wheels 41 located at the root of the support arm 2. Each walking wheel 41 can move along the width direction of the machine body 1 and achieve wheel spacing adjustment. The landing gear 31 is inclinedly disposed on the outside of the traveling wheel 41 and can move synchronously with the traveling wheel. The inner side of the landing gear 31 can guide the wire from the outside to the inside to the traveling wheel. A telescopic internal guide mechanism 5 is disposed at the front end and / or rear end of the body 1, including a vertical push rod 51 and two guide rod assemblies. The guide rod assembly includes at least two interconnected guide rod bodies that can move axially relative to each other. The two ends of the guide rod assembly are respectively hinged to the output end of the vertical push rod 51 and the inner side of the traveling wheel. The vertical push rod 51 can drive the guide rod assembly to unfold or retract. When unfolded, it forms an internal guide structure and can guide the wire from the inside to the outside to the traveling wheel. When retracted, it makes room for the robotic arm 7 to work.

[0007] Furthermore, the robotic arm 7 is located at one end near the telescopic inner guide mechanism 5, and the robotic arm 7 is a multi-degree-of-freedom robotic arm that can be retracted to the belly of the machine.

[0008] Furthermore, the robotic arm 7 includes a base disposed at the bottom of the body 1 and a robotic arm body disposed on the base; when the telescopic inner guide mechanism 5 is retracted, the horizontal height of the end of the output shaft of the vertical push rod 51 and the end of the guide assembly is not lower than the horizontal height of the lower end of the base.

[0009] Furthermore, the adjustable walking wheel mechanism 4 also includes a slide rail 43 disposed at the root of the support arm 2, a slide seat 42 slidably mounted on the slide rail 43, and a horizontal push rod 44 disposed on the fuselage 1. The output end of the horizontal push rod 44 is connected to the slide seat 42 and is used to drive the slide seat 42 to slide horizontally along the width direction of the fuselage 1. The two ends of the slide seat 42 are respectively fixed with a support 46 and the landing gear 31. The walking wheel 41 is rotatably mounted between the support 46 and the landing gear 31. One end of the guide rod assembly is hinged to the lower end of the support 46.

[0010] Furthermore, the slide rail 43 includes a plurality of coaxially arranged annular bodies 431. Adjacent annular bodies 431 are connected by a connecting part 432 to form a cylindrical sleeve structure that can be fitted onto the root of the support arm 2. The side wall of the annular body 431 is provided with a plurality of mounting holes and can be fixed to the support arm 2 by bolts. The bottom of the sleeve structure is provided with a mounting part 433. The mounting part 433 is strip-shaped and its length direction is parallel to the axial direction of the sleeve structure. The bottom of the mounting part 433 is provided with a guide rail body 434 along the length direction, and the slide block 42 is slidably fitted on the guide rail body 434.

[0011] Furthermore, the two ends of the mounting portion 433 extend downward to form limiting portions 4331, and an mounting area is formed between the two limiting portions 4331. The guide rail body 434 is disposed in the mounting area, and the limiting portion can contact the slide block 42 and limit it.

[0012] Furthermore, the output end of the horizontal push rod 44 is provided with a drive member 45, the drive member 45 is provided with two legs forming a U-shaped structure, the ends of the legs extend outward to form a fixing part 451, the fixing part 451 is provided with mounting holes, the two legs straddle the two sides of the support arm 2 and are fixedly connected to the slide block 42 through the fixing part 451.

[0013] Furthermore, the support 46 is provided with a walking wheel motor 47 connected to the walking wheel 41 and used to drive its rotation, and a protective sleeve 48 sleeved on the walking wheel motor 47. The protective sleeve 48 and the body 1 are made of conductive material and form a Faraday cage.

[0014] Furthermore, the guide rod assembly includes a first guide rod 52 and a second guide rod 53. The second guide rod 53 has a strip-shaped hole along its length direction. The first guide rod 52 is provided with a connector. The connector slides in the strip-shaped hole and can realize relative axial movement between the first guide rod and the second guide rod, thereby realizing telescopic movement.

[0015] Furthermore, a pressure wheel mechanism is provided in the two landing gears 31 located away from the end of the robotic arm 7. The pressure wheel mechanism includes a drive device 81 disposed in the landing gear 31, a swing arm 82 disposed on the output shaft of the drive device 81, a pressure wheel bracket 83 disposed at the end of the swing arm 82, and a pressure wheel body 84 disposed on the pressure wheel bracket 83. The drive device 81 can drive the pressure wheel body 84 to rotate between a first position and a second position. When in the first position, the clamping wheel body 84 is located directly below the traveling wheel 41 and can clamp the wire between the traveling wheel 41 and the clamping wheel body 84; When in the second position, the swing arm 82, the pressure wheel bracket 83, and the pressure wheel body 84 are located inside the landing gear 31 and are not exposed outside the landing gear 31.

[0016] Furthermore, the slide 42 is provided with a copper brush 6, which includes a brush holder 61 disposed on the slide and a copper brush body 62 disposed on the brush holder 61. The copper brush body 62 extends downward and can contact the wire on the traveling wheel 41 to realize current diversion and discharge.

[0017] This invention relates to an adjustable-guide rotorcraft robot for power line deployment. Through a retractable internal guide mechanism, the guide rod assembly can be folded upwards after the robot has deployed and loaded the power line, completely freeing up the three-dimensional working area beneath the fuselage. This allows the multi-degree-of-freedom robotic arm to perform large-stroke, large-angle live-line operations without obstruction, fundamentally avoiding interference and collision between the guide mechanism and the work load, significantly improving operational safety and reliability. The guide rod assembly is automatically deployed and retracted via an electrically controlled vertical push rod, requiring no manual intervention throughout the process. This makes it fully adaptable to unmanned operation scenarios involving autonomous take-off, landing, power line deployment, and inspection of drones, greatly reducing the safety risks to personnel in high-risk environments. This adjustable-guide rotorcraft robot for power line deployment enables the opening and retraction of the guide mechanism, increasing the robotic arm's working stroke and improving the reliability and stability of unmanned inspection and maintenance of high-voltage transmission lines. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the adjustable rotor robot with drop-line guidance according to the present invention; Figure 2 for Figure 1 Enlarged view of section A in the middle; Figure 3 This is a schematic diagram of the installation of the robotic arm of the adjustable rotor robot with drop-line guidance according to the present invention; Figure 4 This is a schematic diagram of the installation of the adjustable walking wheel mechanism of the adjustable rotor robot with wire guide according to the present invention; Figure 5 This is an exploded structural diagram of the adjustable walking wheel mechanism of the adjustable rotor robot with drop-line guidance according to the present invention. Figure 6 This is a schematic diagram of the sleeve structure of the adjustable rotor robot with drop-line guidance according to the present invention; Figure 7 This is a schematic diagram of the installation of the guide rail body of the adjustable rotor robot with drop-line guidance according to the present invention. Figure 8 This is a schematic diagram of the drive component of the adjustable rotor robot with drop-line guidance according to the present invention. Figure 9 This is a schematic diagram of the telescopic internal guide mechanism of the adjustable rotor robot with wire guide of the present invention. Figure 10 This is a schematic diagram of the clamping wheel mechanism of the adjustable rotor robot with wire guide of the present invention. In the diagram: 1. Fuselage, 2. Support arm, 31. Landing gear, 32. Connecting rod, 4. Adjustable travel wheel mechanism, 41. Travel wheel, 42. Slide block, 43. Slide rail, 431. Ring body, 432. Connecting part, 433. Mounting part, 4331. Limiting part, 434. Guide rail body, 44. Horizontal push rod, 45. Drive component, 451. Fixing part, 46. Support, 47. Travel wheel motor, 48. Protective sleeve, 5. Telescopic inner guide mechanism, 51. Vertical push rod, 52. First guide rod, 53. Second guide rod, 54. Mounting component, 6. Copper brush, 61. Brush holder, 62. Copper brush body, 7. Robotic arm, 81. Drive device, 82. Swing arm, 83. Pressure wheel bracket, 84. Pressure wheel body. Detailed Implementation

[0019] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0020] See Figures 1-10 The present invention provides a drop-line guided adjustable rotor robot, including a fuselage 1, a robotic arm 7, an adjustable walking wheel mechanism 4, a landing gear 31, and a telescopic internal guide mechanism 5.

[0021] The fuselage 1 serves as the main body, and support arms 2 are symmetrically arranged on both sides of the fuselage 1. A propeller is provided at the end of the support arm 2. In this embodiment, the support arm 2 is a tube structure, which is arranged horizontally and its length direction is parallel to the width direction of the fuselage 1. Preferably, a tube is provided at the front and rear ends of the fuselage 1, and the two ends of the tube extend outward, or another tube is sleeved at the end of the tube to form support arms 2. There are four support arms 2.

[0022] The robotic arm 7 is located at the bottom of the machine body 1. Grippers, sleeves, scissors, X-ray imaging plates and other work loads can be added to the robotic arm 7 to meet different work requirements.

[0023] Multiple adjustable walking wheel mechanisms 4 are symmetrically arranged on both sides of the body 1. In this embodiment, the number of them is the same as that of the support arms 2, and they are arranged on the support arms 2. Specifically, the adjustable walking wheel mechanism 4 includes walking wheels 41 arranged at the root of the support arm 2. Each walking wheel 41 can move along the width direction of the body 1, thereby realizing wheel spacing adjustment to adapt to wires with different spacing.

[0024] The landing gear 31 is inclinedly disposed on the outside of the traveling wheel 41 and can move synchronously with the traveling wheel. The inner side of the landing gear 31 has an inclined guide portion that can guide the wire from the outside to the inside to the traveling wheel. The ends of the two landing gears 31 on the same side are provided with connecting rods 32 to prevent the wire from entering between the two landing gears on the same side and causing jamming or other risks, thereby improving the reliability and stability of the wire landing.

[0025] The telescopic internal guide mechanism 5 is located at the front or rear end of the machine body 1, or simultaneously at both the front and rear ends of the machine body 1. The telescopic internal guide mechanism includes a vertical push rod 51 and two guide rod assemblies. The vertical push rod 51 is a vertically installed electric push rod. The guide rod assembly includes at least two guide rod bodies, which are connected to each other and can move axially relative to each other, thereby achieving telescopic movement. The first end of the guide rod assembly is connected to the output end of the vertical push rod 51, and the second end of the guide rod assembly is hinged to the inner side of the traveling wheel. The telescopic movement of the vertical push rod 51 can drive the guide rod assembly to unfold or retract. When unfolded, it forms a V-shaped internal guide structure with a low middle and high ends, which can guide the wire from the inside to the outside onto the traveling wheel. When retracted, it makes room for the robotic arm 7 to work.

[0026] Its work includes the following stages: During the landing phase, the telescopic guide mechanism is in the deployed state. When the robot flies above the guide wire, the vertical push rod extends downward, pushing the inner side of the guide rod assembly downward to achieve deployment, forming a V-shaped inner guide structure that is low in the middle and high at both ends. The V-shaped inner guide structure forms a ramp from the inner side (i.e., near the center of the fuselage) to the outer side (i.e., near the direction of the walking wheels), guiding the guide wire from the inner side to the wheel groove of the walking wheel. In conjunction with the guide part of the outer landing gear, the guide wire is accurately inserted into the walking wheel from both sides.

[0027] During the operation phase, the telescopic guide mechanism is in the retracted state. After the traveling wheels are loaded with the wire, the vertical push rod retracts upward, pulling the inner side of the guide rod assembly upward and folding it to the bottom of the machine body. At this time, the space under the machine body is completely cleared, and the robotic arm can perform large-scale, full-stroke live-line operations without obstruction.

[0028] This application avoids the drawbacks of traditional fixed guide structures that encroach on the area below the robot body by using a telescopic internal guide mechanism. After the robot is loaded onto the work line, the guide rod assembly can be folded upwards, completely freeing up the three-dimensional working area below the robot's belly. This allows the multi-degree-of-freedom robotic arm to perform large-stroke, large-angle live operations without obstruction, fundamentally preventing interference and collision between the guide mechanism and the work load, and significantly improving operational safety and reliability. The guide rod assembly is automatically extended and retracted by an electrically controlled vertical push rod, requiring no manual intervention throughout the process. This makes it fully adaptable to unmanned operation scenarios such as autonomous take-off and landing, work line placement, and inspection of drones, greatly reducing the safety risks to workers in high-risk environments.

[0029] Combined with an internal guide structure that can retract and extend, and a landing gear that moves synchronously with the wheels, a dual guide structure is achieved. The outer guide (landing gear) guides the wire from the outside into the wheel groove, while the inner guide structure (when deployed) pushes the wire from the inside out into the wheel groove. This enables omnidirectional fault-tolerant wire guidance in both left and right directions, effectively reducing the impact of strong winds or positioning errors on the accuracy of wire landing and improving the success rate of wire landing. The adjustable wheel mechanism, in conjunction with the retractable guide structure, allows the wheels to freely adjust their spacing along the width of the robot, enabling the robot to flexibly adapt to wires with different spacings, greatly expanding the equipment's versatility and coverage in power grid scenarios.

[0030] Furthermore, the walking wheel mechanism is located at the base of the support arm, which also serves as the main mounting body for the propeller. Its compact structure eliminates the need for other mounting components, reducing overall weight and manufacturing costs, thereby enhancing range.

[0031] In this embodiment, the robotic arm 7 is located at one end near the telescopic inner guide mechanism 5, specifically at the front of the fuselage. This robotic arm 7 is a multi-degree-of-freedom robotic arm that can retract to the belly of the fuselage, i.e., to the bottom surface of the fuselage 1. By positioning the robotic arm near the inner guide mechanism, it can quickly deploy for operation when the inner guide mechanism retracts, avoiding long-distance spatial avoidance and improving the robotic arm's operational coverage. Positioning the robotic arm forward and enabling it to retract to the belly of the fuselage facilitates center of gravity control after retraction, without increasing the frontal area, thus improving flight stability.

[0032] In this embodiment, the robotic arm 7 includes a base set at the bottom of the body 1 and a robotic arm body set on the base. The robotic arm body is composed of multiple arm sections that can rotate relative to each other, forming different postures and working angles to adapt to the needs of live-line work at different positions and angles. When the telescopic inner guide mechanism 5 is retracted, the horizontal height of the end of the output shaft of the vertical push rod 51 and the inner end of the guide assembly is not lower than the horizontal height of the lower end of the base, which ensures that the robotic arm will not interfere with the guide mechanism when it is deployed, further improving the working space and flexibility of the robotic arm.

[0033] The adjustable walking wheel mechanism 4 in this embodiment also includes a slide rail 43, a slide seat 42, and a horizontal push rod 44. The slide rail 43 is located at the root of the support arm 2, that is, at one end near the fuselage 1. The slide seat 42 is slidably mounted on the slide rail 43. The horizontal push rod 44 is located on the fuselage 1 and is a horizontally positioned electric push rod located above the support arm 2. The output end of the horizontal push rod 44 is connected to the slide seat 42 and is used to drive the slide seat 42 to slide horizontally along the width direction of the fuselage 1. A support 46 and a landing gear 31 are fixed at both ends of the slide seat 42, respectively. The walking wheel 41 is rotatably mounted between the support 46 and the landing gear 31. One end of the guide rod assembly is hinged to the lower end of the support 46. During adjustment, the four horizontal push rods 44 extend and retract synchronously, thereby driving the four walking wheels to move synchronously to achieve wheelbase adjustment. The slide simultaneously supports the traveling wheels, the support, and the landing gear, and hinges the guide mechanism to the lower end of the support, integrating travel support and guidance into one unit. During adjustment, each component moves as a whole with the slide, and the relative position remains constant, ensuring that the guide angle for the drop line does not change with the wheel track. It is simple to control and has high precision.

[0034] A drive unit 45 is provided at the output end of the horizontal push rod 44. Two support legs are provided on the drive unit 45, forming a U-shaped structure. The ends of the support legs extend outward to form a fixing part 451. The fixing part 451 has mounting holes. The two support legs span across both sides of the support arm 2, and the fixing part 451 is attached to the center of the top surface of the slide block 42 and is fixedly connected by bolts. The two support legs of the drive unit span across both sides of the support arm, and the fixing part is attached to the center of the top surface of the slide block, forming a double-point symmetrical fixation. The thrust of the horizontal push rod is divided into two parallel force lines through the U-shaped structure and evenly transmitted to both sides of the slide block. This effectively avoids the off-center load torque that is easy to generate by unilateral drive, making the slide block slide more smoothly on the guide rail body and less prone to jamming or crawling. At the same time, the two support legs span across both sides of the support arm, so that the push rod, drive unit and support arm form a nested structure, which is compact, has no protruding structure, and has high space utilization. It is also easy to install, remove and maintain.

[0035] In this embodiment, the slide rail 43 includes multiple coaxially arranged annular bodies 431. Adjacent annular bodies 431 are connected by a connecting part 432 to form a cylindrical sleeve structure. This sleeve structure can be fitted onto the root of the support arm 2. Multiple mounting holes are provided on the side wall of the annular body 431, preferably four, which are respectively provided at the upper end, lower end and both sides of the annular body 431. It can be fixed to the support arm 2 by bolts. A mounting part 433 is provided at the bottom of the sleeve structure. The mounting part 433 is strip-shaped, and its length direction is parallel to the axial direction of the sleeve structure. The length of the mounting part is greater than the length of the sleeve structure, and one end of it extends towards the propeller. A guide rail body 434 is provided at the bottom of the mounting part 433, which is parallel to the length direction of the mounting part. The slide block 42 is slidably fitted on the guide rail body 434. The slide block 42 includes a plate-shaped slide block body. At least two sliders are provided on the top surface of the slide block body. The slide block body is slidably fitted on the guide rail body 434 through the sliders.

[0036] The annular sleeve structure consists of an annular body and a connecting part, which can be fitted onto the root of the outrigger as a whole. It is fastened with bolts through four circumferentially distributed mounting holes, enabling quick assembly and disassembly and fine-tuning of position. It forms a modular structure that does not require structural modifications to the fuselage or outrigger and can be adapted to tubular outriggers of different diameters, making it highly versatile. At the same time, this structure provides full circumferential coverage support to the root of the outrigger, enhancing bending and torsional stiffness. When the traveling wheels are subjected to radial loads from the guide wires and the landing gear is subjected to impacts, it can effectively suppress vibration and deformation, ensuring guiding accuracy.

[0037] The two ends of the aforementioned mounting portion 433 extend downward to form limiting portions 4331. An mounting area is formed between the two limiting portions, and the guide rail body 434 is disposed in the mounting area. The limiting portion can contact the slide 42 to limit the slide 42, improve the reliability of adjustment, and avoid overtravel.

[0038] A traveling wheel motor 47 and a protective sleeve 48 are provided on the support 46. Specifically, the motor 47 is located on the inner end, that is, the end away from the landing gear. The traveling wheel motor 47 is connected to the traveling wheel 41 and is used to drive the traveling wheel to rotate. The protective sleeve 48 is fitted over the traveling wheel motor 47. The protective sleeve 48 is supported by conductive material and has several holes on its side wall. The protective sleeve provides physical protection for the traveling wheel motor 47 and facilitates heat dissipation. On the other hand, it forms a Faraday cage with the fuselage 1. In high voltage and ultra-high voltage strong electric field environments, the protective sleeve can effectively reduce the field strength distortion on the surface of the motor body, suppress corona discharge, and shield the influence of external strong electromagnetic interference on the motor drive signal, ensuring the reliable operation of the traveling wheel.

[0039] In this embodiment, a copper brush 6 is also provided on the slide 42. Specifically, it includes a brush holder 61 installed on the slide 42, and a copper brush body 62 is provided on the brush holder 61. The copper brush body 62 extends downward and can contact the wires on the traveling wheel 41, thereby realizing current diversion and discharge, and achieving effective protection of electronic equipment.

[0040] The structure of the guide rod assembly is described below.

[0041] See Figure 9 The guide rod assembly includes a first guide rod 52 and a second guide rod 53. A strip-shaped hole is provided on the second guide rod 53, the length of which is parallel to the length of the second guide rod 53. A connector is provided on the first guide rod 52; in this embodiment, the connector is a plug screw. Two plug screws pass through the strip-shaped hole and are fixedly connected to the first guide rod 52, realizing the connection between the first and second guide rods. The first and second guide rods can achieve relative axial movement, enabling telescopic movement. The end of the first guide rod 52 is hinged to the lower end of the support 46, and the end of the second guide rod 53 is connected to the output end of the vertical push rod 51. In this embodiment, a mounting member 54 is provided at the end of the output shaft of the vertical push rod 51. The mounting member is a relatively short... The rod structure is centrally connected to the end of the output shaft of the vertical push rod 51, and its two ends are hinged to the ends of the second guide rods 53 on both sides. The strip hole on the second guide rod and the plug screw on the first guide rod form an elongated hole guide pair, which not only constrains the relative swing of the two rods in the vertical direction, but also allows free sliding along the length direction, so that the telescopic movement maintains a linear motion trajectory throughout the entire process. Moreover, the length of the strip hole directly limits the maximum telescopic stroke, eliminating the need for additional limiting devices, and the structure is simple and reliable. The mounting part is a short rod, centrally connected to the output shaft of the vertical push rod, and its two ends are respectively hinged to the second guide rods on both sides, forming a symmetrical push-pull linkage structure. When the vertical push rod extends or retracts, the guide rod assemblies on both sides expand or retract synchronously, resulting in good performance.

[0042] To improve stability and prevent the travel wheels from detaching from the guide wires due to lever arm movement during robotic arm operation, this embodiment also includes a clamping wheel mechanism. The clamping wheel mechanism is located in the two landing gears 31 at the end away from the robotic arm 7. For example, when the robotic arm is located at the head, the clamping wheel mechanism is located at the tail, and when the robotic arm is located at the tail, the clamping wheel mechanism is located at the head. Alternatively, clamping wheel mechanisms can be provided at both the head and tail.

[0043] See Figure 10The pressure wheel mechanism includes a drive device 81, a swing arm 82, a pressure wheel bracket 83, and a pressure wheel body 84. In this embodiment, the landing gear 31 is composed of two parallel strip-shaped plates with a gap between them and connected by several connecting rods to form a hollow structure, creating an accommodating space within the landing gear 31. The drive device 81 is disposed within this accommodating space and includes a motor and a reduction assembly, preferably a worm gear reduction assembly. The swing arm 82 is connected to the output shaft of the drive device 81, and the pressure wheel bracket 83 is fixed to the end of the swing arm 82. The pressure wheel body is rotatably mounted on the pressure wheel bracket 83. The drive device 81 can drive the pressure wheel body 84 to rotate between a first position and a second position. When it is in the first position... In the first position, the clamping wheel body 84 is located directly below the traveling wheel 41 and can clamp the guide wire between the traveling wheel 41 and the clamping wheel body 84. Preferably, the clamping wheel body 84 and the axis of the traveling wheel are nearly parallel at this time. When in the second position, the swing arm 82, the clamping wheel bracket 83 and the clamping wheel body 84 are located inside the landing gear 31 and are not exposed outside the landing gear 31, realizing the storage of the clamping wheel mechanism. After storage, it will not affect the guiding function of the landing gear 31. The drive device is built into the double-plate hollow structure of the landing gear. The clamping wheel mechanism is completely stored in this space when not in operation, realizing the combination of functional components and support structure. It does not require occupying other space and installation position. The overall structure is compact and at the same time, it helps to reduce wind resistance during flight.

[0044] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A drop-line guided adjustable rotorcraft robot, characterized in that, include: The fuselage has symmetrical support arms on both sides, and the ends of the support arms are equipped with propellers. A robotic arm is located at the bottom of the machine body; The adjustable walking wheel mechanism consists of multiple wheels symmetrically arranged on both sides of the machine body, including walking wheels located at the root of the outrigger. Each walking wheel can move along the width direction of the machine body and achieve wheel spacing adjustment. The landing gear is inclinedly disposed on the outside of the traveling wheels and can move synchronously with the traveling wheels. The inside of the landing gear can guide the wire from the outside to the inside to the traveling wheels. A telescopic internal guide mechanism is located at the front and / or rear end of the machine body, including a vertical push rod and two guide rod assemblies. The guide rod assembly includes at least two interconnected guide rod bodies capable of relative axial movement. The two ends of the guide rod assembly are respectively hinged to the output end of the vertical push rod and the inner side of the traveling wheel. The vertical push rod can drive the guide rod assembly to unfold or retract. When unfolded, it forms an internal guide structure and can guide the wire from the inside to the outside to the traveling wheel. When retracted, it makes way for the working space of the robotic arm.

2. The adjustable rotorcraft robot with drop-line guidance as described in claim 1, characterized in that: The robotic arm is located at one end near the telescopic inner guide mechanism. The robotic arm is a multi-degree-of-freedom robotic arm and can be retracted to the belly of the machine.

3. The adjustable rotorcraft robot with drop-line guidance as described in claim 2, characterized in that: The robotic arm includes a base disposed at the bottom of the body and a robotic arm body disposed on the base; when the telescopic inner guide mechanism is retracted, the horizontal height of the end of the output shaft of the vertical push rod and the end of the guide assembly is not lower than the horizontal height of the lower end of the base.

4. The adjustable rotorcraft robot with drop-line guidance as described in claim 1, characterized in that: The adjustable walking wheel mechanism also includes a slide rail disposed at the root of the support arm, a slide block slidably mounted on the slide rail, and a horizontal push rod disposed on the body. The output end of the horizontal push rod is connected to the slide block and is used to drive the slide block to slide horizontally along the width direction of the body. Supports and landing gear are respectively fixed at both ends of the slide block. The walking wheel is rotatably mounted between the support and the landing gear. One end of the guide rod assembly is hinged to the lower end of the support.

5. The adjustable rotorcraft robot with drop-line guidance as described in claim 4, characterized in that: The slide rail includes multiple coaxially arranged annular bodies. Adjacent annular bodies are connected by a connecting part to form a cylindrical sleeve structure that can be fitted onto the root of the support arm. The side wall of the annular body is provided with multiple mounting holes and can be fixed to the support arm by bolts. The bottom of the sleeve structure is provided with a mounting part. The mounting part is strip-shaped and its length direction is parallel to the axial direction of the sleeve structure. The bottom of the mounting part is provided with a guide rail body along the length direction, and the slide block is slidably fitted on the guide rail body.

6. The adjustable rotorcraft robot with drop-line guidance as described in claim 5, characterized in that: Both ends of the mounting portion extend downward to form limiting portions, and an mounting area is formed between the two limiting portions. The guide rail body is disposed in the mounting area, and the limiting portions can contact the slide block and limit its movement.

7. The adjustable rotorcraft robot with drop-line guidance as described in claim 4, characterized in that: The output end of the horizontal push rod is provided with a driving component. The driving component is provided with two legs forming a U-shaped structure. The ends of the legs extend outward to form a fixing part. The fixing part is provided with mounting holes. The two legs are straddling both sides of the support arm and are fixedly connected to the slide block through the fixing part.

8. The adjustable rotorcraft robot with drop-line guidance as described in claim 4, characterized in that: The support is provided with a walking wheel motor connected to the walking wheel and used to drive its rotation, and a protective sleeve sleeved over the walking wheel motor. The protective sleeve and the machine body are made of conductive material and form a Faraday cage.

9. The adjustable rotorcraft robot with drop-line guidance as described in claim 1, characterized in that: The guide rod assembly includes a first guide rod and a second guide rod. The second guide rod has a strip-shaped hole along its length. The first guide rod has a connector. The connector slides within the strip-shaped hole and enables relative axial movement between the first guide rod and the second guide rod, thereby achieving telescopic movement.

10. The adjustable rotorcraft robot with drop-line guidance as described in claim 1, characterized in that: The two landing gears located away from the end of the robotic arm are provided with a pressure wheel mechanism. The pressure wheel mechanism includes a drive device installed in the landing gear, a swing arm installed on the output shaft of the drive device, a pressure wheel bracket installed at the end of the swing arm, and a pressure wheel body installed on the pressure wheel bracket. The drive device can drive the pressure wheel body to rotate between a first position and a second position. When in the first position, the clamping wheel body is located directly below the traveling wheel and can clamp the wire between the traveling wheel and the clamping wheel body; When in the second position, the swing arm, the pressure wheel bracket, and the pressure wheel body are located inside the landing gear and are not exposed outside the landing gear.

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