A flying work robot

Abstract

The utility model relates to transmission line maintenance technical field, especially a kind of flying operation robot, comprising: substrate;Walking mechanism is used to drive flying operation robot to move on transmission line;Operation mechanism, and the left and right sides of the rack respectively extend downward and install the portion, the portion is evenly arranged with control box and robot auxiliary parts, the horizontal height of the portion is lower than the horizontal height of the walking mechanism;Flight mechanism, install in the rack, for driving flying operation robot to go online and offline.The portion and other components are located below transmission line, at this time, the overall gravity center of robot is significantly lower than the contact point of walking mechanism and transmission line.This gravity distribution forms natural moment balance effect, when robot moves on transmission line, the restoring moment generated by low weight can automatically offset part of external force interference, so that robot body can maintain stable posture under movement state, without the auxiliary movement of flight mechanism.

Description

Technical Field

[0001] This utility model relates to the field of power transmission line maintenance technology, and in particular to a flying operation robot. Background Technology

[0002] Live-line maintenance of transmission lines is a key technical means to ensure the stable operation of the power grid, and its importance is becoming increasingly prominent against the backdrop of ever-increasing demands for power supply reliability. With the breakthrough development of robotics technology, the use of intelligent equipment to replace manual labor in high-altitude live-line work has become an important direction for industry transformation and upgrading. Transmission line operation and maintenance departments are actively promoting robotic live-line work technology to significantly reduce the safety risks faced by workers, such as falls from heights and electric shocks, while improving work efficiency and accuracy.

[0003] Currently, power transmission line maintenance robots mainly fall into two technical categories: traditional track-based robots and novel flying robots. The former requires manual assistance or mechanical devices to install the robot onto the power line, relying on fixed tracks or clamping mechanisms for movement. While offering high stability, the deployment process still requires human intervention, making fully unmanned operation difficult. Flying robots, as a cutting-edge technological innovation, utilize multi-rotor propeller systems or fixed-wing structures to achieve autonomous takeoff, precise positioning, and rapid transfer between lines, significantly improving operational flexibility. However, after completing their deployment, these robots face complex dynamic balancing challenges—due to the high-altitude open environment of power transmission lines, they are susceptible to wind disturbances, conductor vibrations, and other dynamic factors, causing the robot to tilt or sway. Traditional static balancing mechanisms are ill-suited to these complex conditions. To maintain operational stability, existing solutions must continuously activate the propeller system for dynamic compensation, leading to a sharp increase in energy consumption through this passive balancing strategy.

[0004] Industry test data shows that in typical operational scenarios, the propellers used to maintain balance in a certain type of flying robot consume more than 65% of the total system energy, directly leading to a reduction in its effective operating time. This high energy consumption not only limits the coverage area of ​​a single operation but also increases the maintenance costs of frequent battery replacements or return-to-base recharging, severely hindering the practical application of flying robots. Utility Model Content

[0005] To address the aforementioned shortcomings, the purpose of this invention is to propose a flying operation robot to improve the stability of the operation robot during movement.

[0006] To achieve this objective, the present invention adopts the following technical solution: a flying operation robot, comprising: substrate; The walking mechanism, mounted on the lower part of the base plate, is used to drive the flying operation robot to move on the power transmission line; The working mechanism, mounted on the base plate, is used to perform working tasks on the power transmission line; A frame is fixed to the left and right sides of the base plate, and mounting portions extend downward from the left and right sides of the frame respectively. Control boxes and robot accessories are evenly arranged in the mounting portions, and the horizontal height of the mounting portions is lower than the horizontal height of the walking mechanism. The flight mechanism, mounted on the frame, is used to drive the flying operation robot to go online and offline.

[0007] Preferably, the walking mechanism includes a walking wheel and a drive motor. The walking wheel is rotatably sleeved on the head end of the hollow wheel axle. The hollow wheel axle includes a head end located inside the walking wheel and a tail end protruding from the walking wheel. The drive motor is embedded inside the hollow wheel axle, and the output end of the drive motor is fixedly connected to the walking wheel through the walking wheel disc; The hollow wheel axle has an upward-facing support frame at its tail end, and the upper end of the support frame is detachably connected to the base plate.

[0008] Preferably, the head end of the hollow wheel axle is embedded in the traveling wheel through bearings arranged at left and right intervals.

[0009] Preferably, the support frame is a hollow structure, and the interior of the support frame is connected to the interior of the hollow wheel axle.

[0010] Preferably, the middle wheel surface of the walking wheel is recessed to form a recessed position on its own axis.

[0011] Preferably, the frame includes a first connecting rod, an inverted "U" frame, a horizontal frame, and a side sealing plate; The two first connecting rods are respectively connected to the left and right sides of the lower surface of the substrate; The ends of the two first connecting rods on the same side are fixedly connected to the inverted "U" frame; The horizontal frame is fixedly connected to the lower ends of the two inverted "U" frames on the same side; the side sealing plate is connected to the same side of the two inverted "U" frames; The side sealing plate and the horizontal frame are combined to form the mounting part.

[0012] It also includes a front sealing plate and a top sealing plate. The two front sealing plates are respectively connected and fixed to the front end of the inverted "U" frame. The two front sealing plates are combined to form a "Λ" shaped opening structure. The top sealing plate is fixed to the top of the first connecting rod.

[0013] Preferably, the flight mechanism includes a rotor assembly, an arm, and a lateral folding member; The arm includes a first connecting arm and a second connecting arm. One end of the first connecting arm is detachably connected to the frame, and the rotor assembly is installed at the end of the second connecting arm. The first connecting arm and the second connecting arm are movably connected by the lateral folding member; when the lateral folding member is locked, the axes of the first connecting arm and the second connecting arm coincide; when the lateral folding member is unlocked, the first connecting arm and the second connecting arm can be rotated and folded into a preset angle.

[0014] Preferably, the arm is mounted on the upper part of the frame via a quick-release structure, and the arm extends along the diagonal of the frame; or the rotor assembly includes several rotors that can be horizontally folded together.

[0015] Preferably, with the power transmission line as the reference line, the frame is balanced with the mass on both sides of the reference line as the center, and the flight mechanism is symmetrically arranged with the reference line as the center.

[0016] One of the above technical solutions has the following advantages or beneficial effects: the horizontal height of the mounting part is lower than the horizontal height of the walking mechanism. When the robot is on the power line, the walking mechanism abuts against the power line, while the mounting part and other components are located below the power line. At this time, the overall center of gravity of the robot is significantly lower than the contact point between the walking mechanism and the power line. This gravity distribution creates a natural torque balance effect. When the robot moves on the power line, the restoring torque generated by the lower-lying weight can automatically offset some external force interference, such as conductor vibration or wind load, so that the robot body can maintain a stable posture in motion without the need for a flight mechanism to assist in movement. Attached Figure Description

[0017] Figure 1 This is a structural schematic diagram of one embodiment of the present invention.

[0018] Figure 2 This is a schematic diagram of the walking mechanism structure in one embodiment of the present invention.

[0019] Figure 3 This is a cross-sectional view of the walking mechanism in one embodiment of this utility model.

[0020] Figure 4 This is a structural schematic diagram of another embodiment of the present invention.

[0021] Figure 5 This is a schematic diagram of the folded arm in one embodiment of this utility model.

[0022] Among them: substrate 1, 2. Walking mechanism; 21. Walking wheel; 211. Recessed part; 22. Drive motor; 23. Hollow wheel axle; 24. Walking wheel disc; 25. Support frame; 26. Bearing. Operating mechanism 3 Frame 4, First connecting rod 41, Inverted "U" frame 42, Horizontal frame 43, Side sealing plate 44, Second connecting rod 45 Flight mechanism 5, rotor assembly 51, arm 52, first connecting arm 521, second connecting arm 522, lateral folding component 53. 6. Control box; 7. Robot accessories; 8. Front sealing plate; 9. Top sealing plate. Detailed Implementation

[0023] The embodiments of this utility model 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 this utility model, and should not be construed as limiting this utility model.

[0024] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0025] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0026] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0027] like Figures 1-5 As shown, a flying operation robot is characterized by comprising: substrate1; The walking mechanism 2 is installed on the lower part of the base plate 1 and is used to drive the flying operation robot to move on the power transmission line. The working mechanism 3 is mounted on the base plate 1 and is used to perform the working tasks of the power transmission line; The frame 4 is fixed to the left and right sides of the base plate 1, and the left and right sides of the frame 4 extend downward to the mounting parts respectively. The mounting parts are evenly arranged with the control box 6 and the robot accessory 7. The horizontal height of the mounting parts is lower than the horizontal height of the walking mechanism 2. The flight mechanism 5 is installed on the frame 4 and is used to drive the flight operation robot to go online and offline.

[0028] To ensure the aerial robot maintains balanced movement after being deployed, this invention includes a frame 4 with a mounting section extending downwards. This mounting section is used to mount and secure heavier components, such as the control box 6 and robot accessories 7. The robot accessories 7 may include devices such as batteries, cameras, fuel tanks, and storage tanks. The mounting section is positioned lower than the walking mechanism 2. When the robot is deployed, the walking mechanism 2 abuts against the power line, while the mounting section and other components are located below the power line. At this point, the robot's overall center of gravity is significantly lower than the contact point between the walking mechanism 2 and the power line. This gravity distribution creates a natural torque balance effect. When the robot moves along the power line, the restoring torque generated by the lower-lying weight automatically offsets some external forces such as conductor vibration or wind load, allowing the robot to maintain a stable posture during movement without requiring auxiliary movement from the aircraft.

[0029] It is worth mentioning that when installing the equipment in the mounting section, it is necessary to keep the weight of the mounting sections on the left and right sides similar so that the robot can maintain its balance.

[0030] Those skilled in the art will understand that overhead power lines typically include conductors and ground wires. The flying robot is suitable for maintenance work on conductors and ground wires. The operating mechanism 3 can be replaced according to the user's specific needs. For example, when de-icing is required, the operating mechanism 3 can be a de-icing mechanism; when cleaning is required, it can be a cleaning mechanism. Since the operating mechanism 3 is not within the scope of this invention, it will not be described in detail here. The control box 6 is electrically connected to the flying mechanism 5, the operating mechanism 3, and the walking mechanism 2. The control box 6 contains control devices, enabling the flying mechanism 5, the operating mechanism 3, and the walking mechanism 2 to operate and move according to a preset program. The battery is electrically connected to the walking mechanism 2, the operating mechanism 3, and the flying mechanism 5, providing power to them.

[0031] For example, in one embodiment, the working mechanism 3 is a ground wire repair device. When ground wire repair is required, the working mechanism 3 is prepared, the specific location for ground wire repair is determined, and the driving mechanism 5 drives the working robot to fly to the vicinity of the broken strand of the ground wire. Using visual recognition assistance technology, the driving mechanism 5 is controlled to adjust the aerial position of the working robot and gradually descend. After the walking mechanism 2 aligns with the ground wire, the working robot finally lands on the ground wire, completing the onboarding. After the walking mechanism 2 drives the working robot to the work point, the working mechanism 3 is activated to repair the ground wire. After the repair work is completed, the driving mechanism 5 is activated again to take the working robot off the ground wire, completing the offboarding. The working robot can fly to the next broken strand location of the ground wire for the next round of work, or it can return and land, thus completing the ground wire repair task.

[0032] Preferably, the walking mechanism 2 includes a walking wheel 21 and a drive motor 22. The walking wheel 21 is rotatably sleeved on the head end of the hollow wheel shaft 23. The hollow wheel shaft 23 includes a head end located inside the walking wheel 21 and a tail end protruding from the walking wheel 21. The drive motor 22 is embedded inside the hollow wheel axle 23, and the output end of the drive motor 22 is fixedly connected to the walking wheel 21 through the walking wheel disc 24; The hollow wheel axle 23 is connected to a support frame 25 at its tail end, and the upper end of the support frame 25 is detachably connected to the base plate 1.

[0033] When the robot moves along the power line, the walking mechanism 2 activates the drive motor 22. The output of the drive motor 22 is connected to the walking wheel 24, which is fixedly connected to the walking wheel 21. When the motor drives the walking wheel 24 to rotate, it drives the walking wheel 21 to rotate as well, thus enabling the robot to move. Due to the built-in design of the drive motor 22, on the one hand, the hollow wheel axle 23 provides electromagnetic isolation to the drive motor 22, improving its rotational accuracy and stability; on the other hand, it allows the transmission and electrical interfaces to be built-in, eliminating exposed parts on the outside of the walking mechanism 2 and improving its reliability.

[0034] Preferably, the head end of the hollow wheel axle 23 is embedded in the traveling wheel 21 through bearings 26 arranged at intervals on the left and right.

[0035] The bidirectional support of the front and rear bearings 26 effectively disperses the radial and axial loads of the hollow wheel axle 23, enhancing the load-bearing capacity and operational stability of the traveling wheel 21. Furthermore, after installing the front and rear bearings 26, the sliding friction between the hollow wheel axle 23 and the traveling wheel 21 is replaced by rolling friction, significantly reducing energy loss, improving transmission efficiency, and simultaneously reducing heat and wear generated by friction, thus extending the service life of the hollow wheel axle 23, the traveling wheel 21, and the bearings 26.

[0036] Preferably, the support frame 25 is a hollow structure, and the interior of the support frame 25 is connected to the interior of the hollow wheel axle 23.

[0037] Since the support frame 25 is located on one side of the hollow wheel axle 23, installing the walking mechanism 2 onto the base plate 1 results in an increased weight on one side of the base plate 1, making it difficult to maintain weight balance. Therefore, in this invention, by making the support frame 25 a hollow structure, the weight of the support frame 25 can be reduced, mitigating its impact on balance. Furthermore, the internal drive motor 22 can have its internal wiring routed through the hollow wheel axle 23 and the support frame 25, maintaining the neatness of the overall structure of the robot.

[0038] Preferably, the middle wheel surface of the walking wheel 21 is recessed to form a recessed position 211 on its own axis.

[0039] The recessed area 211 has sloping sides, which guides the walking mechanism 2 to fall into the working position better when the robot is going online, thus completing the robot's online work. When the robot is moving, the power supply line is confined within the recessed area 211, ensuring the robot's stable movement.

[0040] Preferably, the frame 4 includes a first connecting rod 41, an inverted "U" frame 42, a horizontal frame 43, and a side sealing plate 44; The two first connecting rods 41 are respectively connected to the left and right sides of the lower surface of the substrate 1; The ends of the two first connecting rods 41 on the same side are fixedly connected to the inverted "U" frame 42; The horizontal frame 43 is fixedly connected to the lower ends of the two inverted "U" frames 42 on the same side; the side sealing plate 44 is connected to the same side of the two inverted "U" frames 42. The side sealing plate 44 and the horizontal frame 43 combine to form the mounting part. Two first connecting rods 41 are symmetrically distributed on the left and right sides of the lower surface of the substrate 1, transferring the load of the substrate 1 to the inverted "U" frame 42 on both sides. The inverted "U" frame 42 serves as the main load-bearing component. Its U-shaped structure with its opening facing downwards is fixedly connected to both ends of the first connecting rods 41 to form a bidirectional support frame. The horizontal frame 43 connects the lower ends of the two inverted "U" frame 42 laterally, forming a bottom horizontal support surface. The combination of the side sealing plate 44 and the horizontal frame 43 forms a closed or semi-closed mounting space. In this utility model, the U-shaped structure of the inverted "U" frame 42 effectively disperses stress through an arc transition, improving bending and torsional resistance while reducing weight. The horizontal frame 43 is horizontally connected inwards from the lower end of the inverted "U" frame 42. The horizontal frame 43 increases the lateral stiffness of the two inverted "U" frame 42 in the horizontal direction, thereby preventing the frame 4 from swaying or twisting in the horizontal direction. To cope with the effects of unstable horizontal airflow on power transmission lines.

[0041] Preferably, with the power transmission line as the reference line, the frame 4 is balanced with the mass on both sides of the reference line, and the flight mechanism 5 is symmetrically arranged with the reference line as the center.

[0042] Due to the structural limitations of the walking mechanism 2 in this utility model, the balance of the base plate 1 will be affected. Since the weight of the control box 6 is greater than the weight of the robot accessory 7, in one embodiment, the robot accessory 7 and the support frame 25 are placed on one side of the baseline, while the control box 6 is placed on the other side of the baseline, so that the weight on both sides of the base plate 1 can be kept balanced, allowing the working robot to walk stably.

[0043] Preferably, the flight mechanism includes a rotor assembly 51 and an arm 52; The flight mechanism 5 includes a rotor assembly 51, an arm 52, and a lateral folding component 53; The arm 52 includes a first connecting arm 521 and a second connecting arm 522. One end of the first connecting arm 521 is detachably connected to the frame 4, and the rotor assembly 51 is installed at the end of the second connecting arm 522. The first connecting arm 521 and the second connecting arm 522 are movably connected by the lateral folding member 53; when the lateral folding member 53 is locked, the axes of the first connecting arm 521 and the second connecting arm 522 coincide; when the lateral folding member 53 is unlocked, the first connecting arm 521 and the second connecting arm 522 can be rotated and folded into a preset angle.

[0044] like Figure 1 , Figure 5As shown, during maintenance, the flying robot needs to be manually transported to the designated location. If the arm 52 is in an extended state during this process, it increases the robot's footprint and is more susceptible to collisions, potentially causing damage. Therefore, in one embodiment of this invention, a lateral folding member 53 is provided. During transport, the lateral folding member can be unlocked, allowing the second connecting arm 522 to fold below the first connecting arm 521, reducing the robot's footprint and facilitating transport. Upon arrival at the destination, the second connecting arm is manually locked to the lateral folding member, forming a single unit with the first connecting arm 521, which then drives the base plate 1 to take off.

[0045] Preferably, a second connecting rod 45 is also provided between the two inverted "U" frame bodies 42, and the flight mechanism 5 is detachably connected to the second connecting rod 45; At least two of the flight mechanisms 5 are mounted on each of the second connecting rods 45.

[0046] The second connecting rod 45 has a similar reinforcing effect on the structure as the horizontal frame 43, which can increase the lateral stiffness of the two inverted "U" frames 42 in the horizontal direction to meet the installation requirements of the flight mechanism 5. At the same time, the flight mechanism 5 can be wired through the through hole to make electrical connections with the control box 6 and robot accessories 7.

[0047] Preferably, the arm 52 is installed on the upper part of the frame 4 via a quick-release structure, and the rotor assembly 51 includes several rotors that can be horizontally folded and closed; this greatly improves the convenience and efficiency of assembly and reduces the time and cost of maintenance and transportation.

[0048] The arm 52 extends diagonally along the frame 4 to maximize wingspan, allowing for the installation of a larger diameter rotor assembly 51 (propeller). This enables the robot to push more air at the same rotational speed. Furthermore, when the flying robot tilts due to external disturbances (such as gusts), the motors located at the corners can generate a counter-corrective torque through the speed difference, allowing the flying robot to return to a horizontal position more quickly and smoothly. This improves flight efficiency and stability.

[0049] like Figure 4As shown, in another embodiment, a front sealing plate 8 and a top sealing plate 9 are also included. The two front sealing plates 8 are respectively connected and fixed to the front end of the inverted "U"-shaped frame 42, while the top sealing plate 9 is connected and fixed to the top of the first connecting rod 41. The front sealing plates 8 and side sealing plates 9 have ventilation holes, which can reduce the wind-exposed area and decrease flight resistance and crosswind interference when the robot is flying. The two front sealing plates 8 combine to form a "Λ"-shaped opening structure, which guides the power transmission lines to gradually align with the wheels during robot landing, so that the wheels eventually sit on the power transmission lines.

[0050] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a 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. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0051] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A flying operation robot, characterized in that, include: substrate(1); The walking mechanism (2) is installed on the lower part of the base plate (1) and is used to drive the flying operation robot to move on the power transmission line; The working mechanism (3) is mounted on the base plate (1) and is used to perform the working tasks of the transmission line; The frame (4) is fixed on the left and right sides of the base plate (1), and the left and right sides of the frame (4) extend downwards to the mounting parts respectively. The mounting parts are evenly arranged with control boxes (6) and robot accessories (7). The horizontal height of the mounting parts is lower than the horizontal height of the walking mechanism (2). The flight mechanism (5) is installed on the frame (4) and is used to drive the flight operation robot to go online and offline.

2. The flying operation robot according to claim 1, characterized in that, The walking mechanism (2) includes a walking wheel (21) and a drive motor (22). The walking wheel (21) is rotatably sleeved on the head end of the hollow wheel shaft (23). The hollow wheel shaft (23) includes a head end located inside the walking wheel (21) and a tail end protruding from the walking wheel (21). The drive motor (22) is embedded inside the hollow wheel axle (23), and the output end of the drive motor (22) is fixedly connected to the walking wheel (21) through the walking wheel disc (24); The hollow wheel axle (23) is connected to a support frame (25) at its tail end, and the upper end of the support frame (25) is detachably connected to the base plate (1).

3. The flying operation robot according to claim 2, characterized in that, The head end of the hollow wheel axle (23) is embedded in the traveling wheel (21) through bearings (26) arranged at intervals on the left and right.

4. The flying operation robot according to claim 2, characterized in that, The support frame (25) is a hollow structure, and the interior of the support frame (25) is connected to the interior of the hollow wheel axle (23).

5. A flying operation robot according to claim 2, characterized in that, The middle wheel surface of the walking wheel (21) is recessed to form a recess (211) on its own axis.

6. A flying operation robot according to claim 1, characterized in that, The frame (4) includes a first connecting rod (41), an inverted "U" frame (42), a horizontal frame (43), and a side sealing plate (44). The two first connecting rods (41) are respectively connected to the left and right sides of the lower surface of the substrate (1); The ends of the two first connecting rods (41) on the same side are fixedly connected to the inverted "U" frame (42); The horizontal frame (43) is fixedly connected to the lower ends of the two inverted "U" frames (42) on the same side; the side sealing plate (44) is connected to the same side of the two inverted "U" frames (42). The side sealing plate (44) and the horizontal frame (43) are combined to form the mounting part.

7. A flying operation robot according to claim 6, characterized in that, It also includes a front sealing plate (8) and a top sealing plate (9). The two front sealing plates (8) are respectively connected and fixed to the front end of the inverted "U" frame (42). The two front sealing plates (8) are combined to form a "Λ" opening structure. The top sealing plate (9) is connected and fixed to the top of the first connecting rod (41).

8. A flying operation robot according to claim 1, characterized in that, The flight mechanism (5) includes a rotor assembly (51), an arm (52), and a lateral folding component (53); The arm (52) includes a first connecting arm (521) and a second connecting arm (522). One end of the first connecting arm (521) is detachably connected to the frame (4), and the rotor assembly (51) is installed at the end of the second connecting arm (522). The first connecting arm (521) and the second connecting arm (522) are movably connected by the lateral folding member (53); when the lateral folding member (53) is locked, the axes of the first connecting arm (521) and the second connecting arm (522) coincide; when the lateral folding member (53) is unlocked, the first connecting arm (521) and the second connecting arm (522) can be rotated and folded into a preset angle.

9. A flying operation robot according to claim 8, characterized in that, The arm (52) is mounted on the upper part of the frame (4) via a quick-release structure, and the arm (52) extends along the diagonal of the frame (4); or the rotor assembly (51) includes several rotors that can be horizontally folded together.

10. A flying operation robot according to any one of claims 1 to 9, characterized in that, With the power transmission line as the reference line, the frame (4) is arranged with the mass on both sides of the reference line in a balanced manner, and the flight mechanism (5) is arranged symmetrically with the reference line as the center.

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