Overhead transmission line wire acceptance robot and autonomous obstacle crossing method thereof

Abstract

The invention discloses an overhead transmission line wire acceptance robot and an automatic obstacle crossing method thereof. An obstacle crossing system comprises a main body self-adaptive damping device, a belt type driving mechanical leg obstacle crossing device, an obstacle crossing auxiliary moving device, a self-adaptive adjusting wheel device and the like. The angle and position of the wheels can be adjusted in real time according to different obstacle crossing forms, it is ensured that the obstacle crossing mechanism can tightly clamp the wire, a stable obstacle crossing platform is provided, the acceptance inspection robot stably crosses various obstacles such as a spacer, a shockproof hammer and a wire clamp, and the acceptance inspection efficiency of the overhead transmission line wire is greatly improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of aerial work equipment, and in particular relates to an overhead power transmission line conductor acceptance robot and an autonomous obstacle crossing method thereof. Background Art

[0002] Currently, the main quality issues that may arise during the installation of overhead transmission line conductors and their accessories include conductor damage and deformation, skewed anti-vibration hammers and spacers, non-vertical phase conductors, and loosely wrapped aluminum tape. If these defects are not promptly identified and repaired, they can accelerate conductor aging and failure, increasing the risk of accidents. Lax quality control during the acceptance of overhead transmission line conductors and inadequate proactive protection measures can lead to faults during operation, directly impacting the safe operation and economic benefits of high-voltage transmission lines and posing a challenge to the sustainable development of the power industry.

[0003] To improve the quality of overhead transmission line conductor inspection, there is an urgent need for a robot suitable for overhead transmission line conductor inspection. This robot can inspect overhead transmission lines, promptly identify and repair problems, and reduce the risk of property damage. For example, a patent (application number CN202410036792.1) describes a single-conductor flying vehicle for transmission line obstacle crossing. While this vehicle has some obstacle-crossing capabilities, it also struggles to address slippage and instability while traveling along transmission lines.

[0004] It can be seen that although the existing technology has made some progress in the design of obstacle crossing devices, further improvement and innovation are still needed to improve the stability and anti-slip performance during the conductor acceptance process in order to better cope with the operation challenges of transmission lines in harsh environments. Summary of the Invention

[0005] Technical purpose: In order to overcome the problems of low efficiency, uneven acceptance quality and high risk factor of manual operation when inspecting conductive wires, the present invention proposes an overhead transmission line conductor acceptance robot and its autonomous obstacle crossing method, which can help the overhead transmission line conductor acceptance robot to cross various obstacles such as spacers, shock-absorbing hammers and wire clamps, thereby greatly improving the acceptance efficiency of overhead transmission line conductors.

[0006] Technical solution: To achieve the above technical objectives, the present invention adopts the following technical solution:

[0007] An overhead transmission line conductor acceptance robot, characterized by comprising: a main body adaptive shock absorption device, a belt-driven mechanical leg obstacle crossing device, an obstacle crossing auxiliary movement device and an adaptive adjustment wheel device;

[0008] The main body adaptive shock absorption device includes a main body left baffle, a mechanical leg fixing device, a main body right baffle and a fixing component. The main body left baffle and the main body right baffle are connected by the fixing component to form an installation platform with adjustable spacing. Mechanical leg fixing devices are provided on the outer sides of both the main body left baffle and the left side strip.

[0009] There are at least four belt-driven mechanical leg obstacle-crossing devices, which are respectively installed on both sides of the installation platform. Each belt-driven mechanical leg obstacle-crossing device includes a mechanical leg with a connecting rod transmission structure. Each mechanical leg is provided with a corresponding driving motor. The adaptive adjustment wheel device includes an adaptive adjustment wheel with an adjustable rotation angle installed at the top of each mechanical leg.

[0010] Preferably, in the main body adaptive shock absorption device, the fixing component includes a plurality of fixing pins, shock absorption springs, spring baffles, spring fixing shafts, pin fixing nuts and shock absorption pin fixing nuts.

[0011] A plurality of installation holes for the fixing pins to pass through are respectively provided on the main body left baffle and the main body right baffle. The shock absorption springs are sleeved on the fixing pins. One end of each fixing pin is installed on the main body right baffle through the pin fixing nut and the shock absorption pin fixing nut, and the other end is installed on the main body left baffle through the spring baffle and the spring fixing shaft.

[0012] Preferably, a left side strip is provided at the inner bottom end of the main body left baffle, and a right side strip is provided at the inner bottom end of the main body right baffle.

[0013] Preferably, the belt-driven mechanical leg obstacle-crossing device includes a driving shaft fixed base, a driving shaft fixed baffle, a driving shaft belt pulley, a driving shaft, a driving shaft bearing, a belt driving roller, a bearing fixed baffle, a roller fixed baffle, a driving shaft driving motor, a driving connecting rod, a connecting rod connecting shaft, a connecting rod connecting shaft fixed bearing, a driven connecting rod, a driven shaft fixed baffle, a driven shaft, a driven shaft fixed base and a driven shaft bearing.

[0014] There are two driving shaft fixed baffles, which are arranged on the driving shaft fixed base. The driving connecting rod is installed between the two driving shaft fixed baffles. Guide rails are provided at the top ends of each driving shaft fixed baffle. Both ends of the belt driving roller are fixed on the guide rails through the roller fixed baffle. The driving connecting rod and the driven connecting rod are connected through the connecting rod connecting shaft and the connecting rod connecting shaft fixed bearing to form a mechanical leg with a connecting rod transmission structure. The driving shaft driving motor drives the belt driving roller to move, driving the driving shaft belt pulley to move back and forth in the guide rails of the driving shaft fixed baffle, and then driving the driven connecting rod to move.

[0015] Preferably, the adaptive adjustment wheels in the adaptive adjustment wheel device are installed at the top ends of each driven connecting rod.

[0016] Preferably, the obstacle surmounting system further comprises at least two obstacle surmounting auxiliary movement devices, which are installed on the belt-driven mechanical leg obstacle surmounting devices on both sides and are used to adjust the position of the belt-driven mechanical leg obstacle surmounting devices on the installation platform;

[0017] Each obstacle-crossing assisting mobile device includes a mechanical leg fixed baffle, an upper baffle of the obstacle-crossing assisting mobile device, a guide rail lower limiter, a buffer sleeve, a guide rail upper limiter, a guide rail slider, a guide rail, a rack fixed baffle, a rack transmission bearing, a rack drive motor, a rack transmission engagement block, a rack, a rack fixed shaft, a rack fixed bearing, a rack fixed bearing fixing base, and a guide rail upper limiter, wherein the mechanical leg fixed baffle is connected to the guide rail slider, the upper baffle of the obstacle-crossing assisting mobile device is connected to the guide rail, the rack transmission engagement block and the mechanical leg fixed baffle are fixed together, and the rack drive motor drives the rack to move, thereby driving the rack transmission engagement block and the mechanical leg fixed baffle to move.

[0018] Preferably, in the adaptive adjustment wheel device, each adaptive adjustment wheel includes a wheel angle adjustment upper base, a wheel angle adjustment shaft, a wheel angle adjustment lower base, a wheel angle adjustment servo, a wheel hub, a guide wheel, a wheel rotation bearing, a wheel rotation shaft fixing nut, a wheel drive shaft, and a wheel fixed base, wherein the guide wheel is nested on the wheel hub, the wheel hub is fixed on the wheel drive shaft, the wheel drive shaft is fixed on the wheel fixed base, the wheel angle adjustment upper base is installed at the bottom of the wheel fixed base, the wheel angle adjustment upper base is fixed together by the wheel angle adjustment shaft and the wheel angle adjustment lower base, and the rotation angle of the adaptive adjustment wheel is controlled by the angle adjustment servo.

[0019] An autonomous obstacle crossing method for an overhead transmission line conductor acceptance robot includes the following obstacle crossing process:

[0020] S100. Adjust the robot's adaptive adjustment wheels and leg angles on the ground based on the wire specifications and obstacle types that need to be inspected.

[0021] S200, after the robot goes online, it clamps the wire through the adjustment wheels on the four mechanical legs;

[0022] S300: The robot walks on the wire and, when there are no obstacles, drives the adaptive adjustment wheel forward via the motor;

[0023] When the robot encounters an obstacle, the motor drives the mechanical leg to lift up, and then relies on the obstacle-crossing auxiliary movement device to move the raised mechanical leg forward until it completely crosses the obstacle and then clamps the wire;

[0024] S400: The obstacle-crossing auxiliary movement device is used to change the layout of the obstacle-crossing legs from a square to a diamond, so that the obstacle can be crossed by sequentially lifting the mechanical legs.

[0025] Preferably, during the obstacle-crossing process, the robot reduces the overall vibration through the main body adaptive shock absorption device.

[0026] Advantages: Due to the adoption of the above technical solutions, the present invention has the following advantages:

[0027] (1) The overhead transmission line conductor acceptance robot of the present invention has a simple structure, low manufacturing and maintenance costs, and is flexible and convenient to operate. The system can effectively avoid collision or hooking problems with various obstacles on the conductor during the acceptance process. Aiming at the common problem that the obstacle-crossing mechanisms of most existing overhead transmission line conductor acceptance robots slip on the conductor, the belt-driven mechanical leg device adopted in this design can effectively solve this problem and ensure the smoothness and reliability of the obstacle-crossing process.

[0028] (2) The overhead transmission line conductor acceptance robot of the present invention enables the mechanical leg to not only complete the obstacle-crossing actions of rotation and lifting through the obstacle-crossing auxiliary moving device, but also move left and right to adjust the obstacle-crossing form of the mechanical leg, significantly increasing the degrees of freedom of the mechanical leg and its ability to adapt to various scenarios. This function greatly improves the acceptance efficiency, reduces the costs and risks of manual acceptance, and further enhances the application effect of the equipment in complex environments.

[0029] (3) The overhead transmission line conductor acceptance robot of the present invention can automatically adjust the inclination angle of the walking wheels according to the crawling position of the robot on the conductor, so as to adapt to different specifications of conductors and obstacles. Its structural design is simple, the operation is convenient, and it is easy to maintain later. The system has strong adaptability, can effectively execute long-distance continuous acceptance tasks, reduce the frequency of manual assistance, significantly reduce the operation cost, and improve the overall work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is a schematic diagram of the overall structure of an overhead transmission line conductor acceptance robot of the present invention;

[0031] Figure 2 is a schematic diagram of the adaptive shock absorption device of the present invention;

[0032] Figure 3 is an exploded schematic diagram of the structure of the adaptive shock absorption device of the present invention;

[0033] Figure 4 is a schematic diagram of the structure of the belt-driven mechanical leg obstacle-crossing device of the present invention;

[0034] Figure 5 is a schematic diagram of another angle of the belt-driven mechanical leg obstacle-crossing device of the present invention;

[0035] Figure 6 is an exploded schematic diagram of the belt-driven mechanical leg obstacle-crossing device of the present invention;

[0036] Figure 7 Schematic structural diagram of the obstacle-crossing auxiliary moving device of the present invention;

[0037] Figure 8 Internal schematic diagram of the obstacle-crossing auxiliary moving device of the present invention;

[0038] Figure 9 Explosion schematic diagram of the obstacle-crossing auxiliary moving device of the present invention;

[0039] Figure 10 Schematic diagram of the adaptive adjustment wheel device of the present invention;

[0040] Figure 11 Explosion schematic diagram of the adaptive adjustment wheel device of the present invention;

[0041] Among them, 1 - main body adaptive shock absorption device, 2 - belt-driven mechanical leg obstacle-crossing device, 3 - obstacle-crossing auxiliary moving device, 4 - adaptive adjustment wheel device.

[0042] 101 - left baffle of the main body, 102 - left side bar, 103 - fixing pin, 104 - shock absorption spring, 105 - spring baffle, 106 - mechanical leg fixing device, 107 - gasket, 108 - spring fixing shaft, 109 - pin fixing nut, 110 - shock absorption pin fixing nut, 111 - right baffle of the main body, 112 - right side bar.

[0043] 201 - driven shaft fixing baffle, 202 - driven shaft, 203 - driven shaft bearing fixing gasket, 204 - driven shaft fixing base, 205 - driven shaft bearing, 206 - driving shaft fixing base, 207 - driving shaft pulley, 208 - driving shaft, 209 - driving shaft bearing, 210 - bearing locking gasket, 211 - belt driving roller, 212 - bearing fixing baffle, 213 - driving shaft fixing baffle, 214 - rolling fixing baffle, 215 - driving shaft driving motor, 216 - bearing fixing bushing, 217 - driving shaft fixing bearing, 218 - active connecting rod, 219 - connecting shaft of the active and driven connecting rods, 220 - fixing bearing of the connecting shaft of the active and driven connecting rods, 221 - driven connecting rod.

[0044] 301 - mechanical leg fixing baffle, 302 - upper baffle of the obstacle-crossing auxiliary moving device, 303 - lower limiter of the guide rail, 304 - buffer bushing, 305 - upper limiter of the guide rail, 306 - guide rail slider, 307 - guide rail, 308 - rack fixing baffle, 309 - rack transmission bearing, 310 - rack driving motor, 311 - rack transmission engaging block, 312 - rack, 313 - rack fixing shaft, 314 - rack fixing bearing, 315 - fixing base of the rack fixing bearing, 316 - upper limiter of the guide rail.

[0045] 401 - Wheel axle fixed lower base, 402 - Wheel angle adjustment shaft, 403 - Driven connecting rod connector, 404 - Wheel angle adjustment servo, 405 - Wheel hub, 406 - Guide wheel, 407 - Wheel rotation bearing, 408 - Wheel rotation shaft fixing nut, 409 - Wheel drive shaft, 410 - Wheel fixing base. Detailed implementation manner

[0046] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0047] The present invention discloses a conductor acceptance robot for overhead transmission lines, including:

[0048] A main body adaptive shock absorption device, which is used to provide a stable walking platform for the obstacle crossing mechanism and achieve the shock absorption effect;

[0049] A belt-driven mechanical leg obstacle crossing device, which is used to lift and rotate the mechanical leg of the acceptance robot through the motor driving the roller and the roller driving the main shaft of the mechanical leg of the acceptance robot through the belt when the acceptance robot encounters an obstacle, so as to achieve obstacle crossing;

[0050] An obstacle crossing auxiliary moving device, which is used to assist the movement of the mechanical leg, enable the mechanical leg to move left and right for adjustment, and optimize the obstacle crossing form of the mechanical leg;

[0051] An adaptive adjustment wheel device, which is used to adjust the angle and position of the wheels in real time according to different obstacle crossing forms of the obstacle crossing mechanism, ensure that the obstacle crossing mechanism can tightly clamp the conductor, provide a stable obstacle crossing platform, and prevent slipping.

[0052] Figures 1 to 11 An embodiment of a conductor acceptance robot for overhead transmission lines is shown, including: a main body adaptive shock absorption device 1, a belt-driven mechanical leg obstacle crossing device 2, an obstacle crossing auxiliary moving device 3, and an adaptive adjustment wheel device 4.

[0053] As Figure 2 And Figure 3 Shown, the main body adaptive shock absorption device 1 of the conductor acceptance robot for overhead transmission lines includes a main body left baffle 101, a left side strip 102, a fixing pin 103, a shock absorption spring 104, a spring baffle 105, a mechanical leg fixing device 106, a gasket 107, a spring fixing shaft 108, a pin fixing nut 109, a shock absorption pin fixing nut 110, a main body right baffle 111, and a right side strip 112.

[0054] The main body left baffle 101 and the main body right baffle 111 are connected by a fixing pin 103, and this fixing method can move up and down. The shock absorption spring 104 is placed on the pin 103 to play a role in shock absorption during the movement of the obstacle crossing system to ensure the stability of the entire system. The spring baffle 105 plays a role in restricting the movement range of the spring.

[0055] As Figures 4 to 6 shown, the belt-driven mechanical leg obstacle-crossing device 2 includes a driven shaft fixed baffle 201, a driven shaft 202, a driven shaft bearing fixing gasket 203, a driven shaft fixed base 204, a driven shaft bearing 205, a driving shaft fixed base 206, a driving shaft pulley 207, a driving shaft 208, a driving shaft bearing 209, a bearing locking gasket 210, a belt driving roller 211, a bearing fixed baffle 212, a driving shaft fixed baffle 213, a roller fixed baffle 214, a driving shaft driving motor 215, a bearing fixed sleeve 216, a driving shaft fixed bearing 217, a driving connecting rod 218, a main and driven connecting rod connecting shaft 219, a main and driven connecting rod connecting shaft fixed bearing 220, and a driven connecting rod 221.

[0056] The driving connecting rod 218 is clamped by two driving shaft fixed baffles 213. The bottom of the driving shaft fixed baffle 213 is fixed on the driving shaft fixed base 206. The driving shaft driving motor 215 drives the belt driving roller 211 to move. Through belt transmission, it drives the driving shaft pulley 207 to move back and forth in the guide rail of the driving shaft fixed baffle 213, and then drives the driven connecting rod 221 to move, so that the mechanical leg completes the obstacle-crossing actions of lifting and rotating. The belt driving roller 211 is fixed by the roller fixed baffle 214.

[0057] As Figures 7 to 9 shown, the obstacle-crossing auxiliary moving device 3 includes a mechanical leg fixed baffle 301, an obstacle-crossing auxiliary moving device upper baffle 302, a guide rail lower limiter 303, a buffer bushing 304, a guide rail upper limiter 305, a guide rail slider 306, a guide rail 307, a rack fixed baffle 308, a rack transmission bearing 309, a rack driving motor 310, a rack transmission engaging block 311, a rack 312, a rack fixed shaft 313, a rack fixed bearing 314, a rack fixed bearing fixed base 315, and a guide rail upper limiter 316.

[0058] The mechanical leg fixed baffle 301 is connected to the guide rail slider 306. The obstacle-crossing auxiliary moving device upper baffle 302 is connected to the guide rail 307. The rack transmission engaging block 311 is fixed to the mechanical leg fixed baffle 301. The rack driving motor 310 drives the rack 312 to move, driving the rack transmission engaging block 311 and the mechanical leg fixed baffle 301 to move together, so that the mechanical leg can perform the movement required for obstacle crossing.

[0059] As Figure 10 and Figure 11As shown, the adaptive adjustment wheel device 4 includes a wheel angle adjustment upper base 401, a wheel angle adjustment shaft 402, a wheel angle adjustment lower base 403, a wheel angle adjustment servo 404, a wheel hub 405, a guide wheel 406, a wheel rotation bearing 407, a wheel rotation shaft fixing nut 408, a wheel transmission shaft 409, and a wheel fixing base 410.

[0060] The guide wheel 406 is nested on the wheel hub 405, the wheel hub 405 is fixed on the wheel drive shaft 409, the wheel drive shaft 409 is fixed on the base 410, the wheel angle adjustment upper base 401 is fixed together with the lower base 403 through the shaft 402, and the rotation angle of the wheel is controlled by the angle adjustment servo 404.

[0061] The present invention provides an overhead transmission line conductor inspection robot equipped with a pair of intersecting fixed mechanical legs and a pair of intersecting adjustable mechanical legs. The robot is specifically designed for walking on conductors, which are arranged in a catenary configuration and possess a certain degree of flexibility. Therefore, when the inspection robot traverses obstacles, the two adjustable mechanical legs are adjusted to arrange the robot's four legs in a parallelogram configuration. When one mechanical leg is raised, the other three legs are arranged in a triangular configuration, significantly improving the robot's stability during obstacle traversal. During normal inspection, the four legs can be arranged in a square configuration, ensuring that the forces acting on the two conductors are equal. When the forces acting on the two conductors are unbalanced, the robot's own posture sensor can be used to adjust the distance between the mechanical legs on one side to maintain the robot parallel to the ground, thereby improving the robot's stability during inspection. When the robot needs to traverse relatively small obstacles, the adjustable obstacle-crossing legs can be adjusted slightly. The present invention designs an obstacle-crossing auxiliary movement device so that when the robot crosses an obstacle, lifting one mechanical leg will not cause a significant change in the robot's center of gravity, thereby improving the robot's obstacle crossing stability and adaptability to different types of obstacles.

[0062] The obstacle-crossing working process of the overhead transmission line conductor acceptance robot of the present invention is as follows:

[0063] Process 1: Based on the different wire specifications and obstacle types that need to be inspected, the robot first adjusts the angles of the adaptive adjustment wheels and mechanical legs on the ground so that it can adapt to different working conditions.

[0064] Process 2: After the robot is online, the wires are clamped by adjusting wheels on the four mechanical legs to maintain overall stability and prevent slipping.

[0065] Process 3: When the robot does not encounter any obstacles, it drives the wheels through the motor and moves forward. When encountering obstacles such as spacer dampers and shock dampers, it drives the belt-type mechanical legs to lift through the motor, and then relies on the obstacle-crossing auxiliary moving device to move the lifted mechanical legs forward until the obstacle is completely crossed and then clamps the conducting wire.

[0066] Process 4: This obstacle-crossing system can transform the layout of the obstacle-crossing legs from a square to a rhombus through the obstacle-crossing auxiliary moving device, so as to achieve the effect of crossing obstacles by lifting the mechanical legs in sequence.

[0067] Process 5: During the obstacle-crossing process, the main shock-absorbing device can continuously reduce the overall vibration, so that the whole body maintains a relatively stable state. In addition, this obstacle-crossing system can be applied to conducting wires of different specifications and orientations. It can walk and cross obstacles on the side, above, below and obliquely of the conducting wire by changing the mechanical legs and adjusting wheels.

[0068] After verification, a conductor inspection robot for overhead transmission lines provided by the present invention controls four mechanical legs to cross obstacles in sequence through belt-driven mechanical legs, an adaptive adjusting wheel device and an obstacle-crossing auxiliary moving device. During the obstacle-crossing process, the four mechanical legs firmly clamp the conducting wire through belt transmission, effectively preventing slipping. This obstacle-crossing system greatly improves the obstacle-crossing efficiency of the robot, avoiding problems such as high risks brought by manual inspection and unqualified inspection quality. The conductor inspection robot for overhead transmission lines has a reasonable structure and a high degree of automation. It not only provides a new solution for conductor inspection, but also is suitable for large-scale production and has broad application prospects.

[0069] The obstacle-crossing system of the present invention can effectively avoid the high risks of manual inspection and the problem of unqualified inspection quality. It has the advantages of reasonable structure and high degree of automation, is suitable for mass production, and has broad application prospects.

[0070] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the above embodiments do not limit the present invention in any form. Any technical solutions obtained by using equivalent replacement or equivalent transformation fall within the protection scope of the present invention.

Claims

1. An overhead transmission line conductor acceptance robot, characterized in that, Including: The main body adaptive shock absorption device (1), the belt-driven mechanical leg obstacle crossing device (2) and the adaptive adjustment wheel device (4); The main body adaptive shock absorption device (1) includes a main body left baffle (101), a mechanical leg fixing device (106), a main body right baffle (111) and a fixing component. The main body left baffle (101) and the main body right baffle (111) are connected by the fixing component to form an installation platform with adjustable spacing. Mechanical leg fixing devices (106) are provided on the outer sides of the main body left baffle (101) and the left side strip (102); There are at least four belt-driven mechanical leg obstacle crossing devices (2), which are installed on both sides of the installation platform. Each belt-driven mechanical leg obstacle crossing device (2) includes a mechanical leg with a link transmission structure, and each mechanical leg is provided with a corresponding drive motor. The adaptive adjustment wheel device (4) includes an adaptive adjustment wheel with an adjustable rotation angle installed at the top of each mechanical leg.

2. The conductor acceptance robot for overhead transmission lines according to claim 1, wherein: In the main body adaptive shock absorption device (1), the fixing component includes a number of fixing pins (103), shock absorption springs (104), spring baffles (105), spring fixing shafts (108), pin fixing nuts (109) and shock absorption pin fixing nuts (110); A number of installation holes for the fixing pins (103) to pass through are respectively provided on the main body left baffle (101) and the main body right baffle (111). The shock absorption springs (104) are sleeved on the fixing pins (103). One end of each fixing pin (103) is installed on the main body right baffle (111) through the pin fixing nut (109) and the shock absorption pin fixing nut (110), and the other end is installed on the main body left baffle (101) through the spring baffle (105) and the spring fixing shaft (108).

3. The conductor acceptance robot for overhead transmission lines according to claim 1, wherein: A left side strip (102) is provided at the inner bottom end of the main body left baffle (101), and a right side strip (112) is provided at the inner bottom end of the main body right baffle (111).

4. The conductor acceptance robot for overhead transmission lines according to claim 1, characterized in that: There are at least four belt-driven mechanical leg obstacle crossing devices (2), which are installed on both sides of the installation platform. Each belt-driven mechanical leg obstacle crossing device (2) includes a driving shaft fixed base (206), a driving shaft fixed baffle (213), a driving shaft belt pulley (207), a driving shaft (208), a driving shaft bearing (209), a belt driving roller (211), a bearing fixed baffle (212), a roller fixed baffle (214), a driving shaft drive motor (215), a driving link (218), a link connecting shaft (219), a link connecting shaft fixed bearing (220), a driven link (221), a driven shaft fixed baffle (201), a driven shaft (202), a driven shaft fixed base (204) and a driven shaft bearing (205), where, There are two of the above-mentioned driving shaft fixed baffles (213), which are arranged on the driving shaft fixed base (206). The driving connecting rod (218) is installed between the two driving shaft fixed baffles (213). The top of each driving shaft fixed baffle (213) is provided with a guide rail. Both ends of the belt driving roller (211) are fixed on the guide rail through roller fixed baffles (214); the driving connecting rod (218) and the driven connecting rod (221) are connected through a connecting rod connecting shaft (219) and a connecting rod connecting shaft fixed bearing (220) to form a mechanical leg of a connecting rod transmission structure. The driving shaft driving motor (215) drives the belt driving roller (211) to move, driving the driving shaft pulley (207) to move back and forth in the guide rail of the driving shaft fixed baffle (213), and further driving the driven connecting rod (221) to move.

5. The conductor acceptance robot for overhead transmission lines according to claim 4, wherein: The adaptive adjustment wheel in the adaptive adjustment wheel device (4) is installed at the top of each driven connecting rod (221).

6. The wire acceptance robot for an overhead transmission line according to claim 4, characterized in that: The obstacle crossing system further includes at least two obstacle crossing auxiliary moving devices (3), which are installed on the belt-driven mechanical leg obstacle crossing devices (2) on both sides and are used to adjust the position of the belt-driven mechanical leg obstacle crossing devices (2) on the installation platform.

7. The conductor acceptance robot for an overhead transmission line according to claim 4, wherein: Each obstacle crossing auxiliary moving device (3) includes a mechanical leg fixed baffle (301), an obstacle crossing auxiliary moving device upper baffle (302), a guide rail lower limiter (303), a buffer bushing (304), a guide rail upper limiter (305), a guide rail slider (306), a guide rail (307), a rack fixed baffle (308), a rack transmission bearing (309), a rack driving motor (310), a rack transmission engaging block (311), a rack (312), a rack fixed shaft (313), a rack fixed bearing (314), a rack fixed bearing fixed base (315), a guide rail upper limiter (316). Among them, the mechanical leg fixed baffle (301) is connected to the guide rail slider (306), the obstacle crossing auxiliary moving device upper baffle (302) is connected to the guide rail (307), the rack transmission engaging block (311) is fixed to the mechanical leg fixed baffle (301), and the rack driving motor (310) drives the rack (312) to move, driving the rack transmission engaging block (311) and the mechanical leg fixed baffle (301) to move.

8. The conductor acceptance robot for overhead transmission lines according to claim 1, wherein: In the self-adaptive adjustment wheel device (4), each self-adaptive adjustment wheel comprises a wheel angle adjustment upper base (401), a wheel angle adjustment shaft (402), a wheel angle adjustment lower base (403), a wheel angle adjustment steering gear (404), a wheel hub (405), a guide wheel (406), a wheel rotation bearing (407), a wheel rotation shaft fixing nut (408), a wheel transmission shaft (409), and a wheel fixing base (410), wherein the guide wheel (406) is nested in the wheel The wheel hub (405) is fixed on the wheel transmission shaft (409), the wheel transmission shaft (409) is fixed on the wheel fixed base (410), the wheel angle adjustment upper base (401) is installed at the bottom of the wheel fixed base (410), the wheel angle adjustment upper base (401) is fixed together through the wheel angle adjustment shaft (402) and the wheel angle adjustment lower base (403), and the rotation angle of the adaptive adjustment wheel is controlled by the angle adjustment steering gear (404).

9. An autonomous obstacle-crossing method for a conductor acceptance robot of an overhead transmission line, characterized in that, The following obstacle-crossing procedures are included: S100. Adjust the robot's adaptive adjustment wheels and mechanical leg angles on the ground based on the wire specifications and obstacle types that need to be inspected. S200, after the robot goes online, it clamps the wire through the adjustment wheels on the four mechanical legs; S300: The robot walks on the wire and, when no obstacle is encountered, drives the adaptive adjustment wheel forward via the motor; When the robot encounters an obstacle, the motor drives the mechanical leg to lift up, and then relies on the obstacle-crossing auxiliary movement device to move the raised mechanical leg forward until it completely crosses the obstacle and then clamps the wire; S400: The obstacle-crossing auxiliary movement device is used to change the layout of the obstacle-crossing legs from a square to a diamond, so that the obstacle can be crossed by sequentially lifting the mechanical legs.

10. An autonomous obstacle-crossing method for a conductor acceptance robot of an overhead transmission line, characterized in that: During the obstacle crossing process, the robot uses the main body adaptive shock absorption device to reduce the overall vibration.

Images