Walking trolley for sag observation

Abstract

The present invention relates to the technical field of overhead transmission line construction, and specifically, to a walking trolley for sag observation. It includes a trolley body, which comprises a frame. A GPS positioning device, a lidar, a walking mechanism, a clamping mechanism and a control circuit are provided at the frame; the walking mechanism includes driving wheels, and the clamping mechanism includes clamping wheels. The driving wheels include a driving wheel body and a driving wheel shaft fixedly connected in the circumferential direction, and the clamping wheels include a clamping wheel body and a clamping wheel shaft in rotational fit. The present invention can preferably realize the acquisition of sag images in overhead lines.

Description

Technical Field

[0001] The present invention relates to the technical field of overhead transmission line construction, and more particularly to a walking trolley for sag observation. Background Art

[0002] Under working conditions such as high-altitude mountainous areas, it is difficult to observe the conductor sag better during the laying construction of overhead transmission lines by conventional methods such as theodolites due to the influence of environmental factors with low visibility such as thick fog.

[0003] In the Chinese patent document with the publication number "202395385U", a remotely controlled walking trolley for sag observation based on GPS positioning technology is disclosed. Through this trolley, a wireless video monitoring device 5 can be set at the overhead line, and the real-time position of the trolley can be provided by the GPS positioning device 1. Through the ground control device, the trolley can be better controlled to travel to the predetermined shooting position, and then the sag picture of the conductor can be taken by the wireless video monitoring device 5 and sent to the ground, thereby realizing the observation of the sag.

[0004] The solution disclosed in the above patent document has the following disadvantages:

[0005] 1. Using the wireless video transmission device 8 as the shooting device for the sag, although the sag can be photographed closely by the trolley, it is still easily interfered by factors such as thick fog, making it difficult to collect a more accurate picture.

[0006] 2. The walking mechanism 4 of the trolley only has a driving wheel arranged above and a driven wheel arranged below, which results in poor climbing ability of the trolley and unstable center of gravity, making it prone to large-amplitude shaking at the overhead line. In addition, the wireless video monitoring device 5 is arranged on the side of the trolley through a long mounting rod, which further makes the center of gravity of the trolley seriously deviate from the vertical plane where the overhead line is located, so it is even more difficult for the wireless video monitoring device 5 to collect a more accurate sag picture.

[0007] 3. In the walking mechanism 4 of the trolley, the driven wheel located below is clamped to the overhead line in cooperation with the driving wheel through a spring mechanism. Due to its own characteristics, this spring mechanism is difficult to provide a stable clamping force, especially in the case where the trolley is prone to shaking, it is easy to cause the trolley to fall off the overhead line. Summary of the Invention

[0008] The present invention provides a walking trolley for sag observation, which can overcome certain or some defects of the prior art.

[0009] According to the walking trolley for sag observation of the present invention, it includes a trolley body, and the trolley body includes a frame, and a GPS positioning device, a lidar, a walking mechanism, a clamping mechanism and a control circuit are arranged at the frame;

[0010] The frame is bent from a sheet of material. The frame includes a first bent portion, a second bent portion, a third bent portion, a fourth bent portion, a fifth bent portion, a sixth bent portion, a seventh bent portion, an eighth bent portion, and a ninth bent portion that are successively bent perpendicularly; the first bent portion and the seventh bent portion are respectively located inside the third bent portion and the fifth bent portion, and the second bent portion, the third bent portion, the fourth bent portion, and the fifth bent portion together form a cuboid-shaped circuit installation cavity, and the control circuit is arranged at the circuit installation cavity; the first bent portion and the ninth bent portion are located on the same side of the seventh bent portion, the first bent portion and the ninth bent portion are located on the same plane and a line installation opening for cooperating with the overhead line is formed between the first bent portion and the ninth bent portion; a clamping wheel installation groove is formed between the first bent portion and the seventh bent portion, and a driving wheel installation groove is formed between the ninth bent portion and the seventh bent portion;

[0011] The traveling mechanism includes a driving wheel, and the driving wheel is arranged in the driving wheel installation groove; the driving wheel includes a driving wheel body and a driving wheel shaft that are fixedly connected in the circumferential direction, and both ends of the driving wheel shaft are rotatably connected to the ninth bent portion and the seventh bent portion respectively; one end of the driving wheel shaft extends out of the ninth bent portion or the seventh bent portion and is connected to a driving motor, and the driving motor is used to drive the driving wheel body to rotate through the driving wheel shaft;

[0012] The clamping mechanism includes a clamping wheel, and the clamping wheel is arranged in the clamping wheel installation groove; the clamping wheel includes a clamping wheel body and a clamping wheel shaft that are rotationally matched, and arc-shaped sliding groove holes are provided at both ends of the ninth bent portion and the seventh bent portion corresponding to the clamping wheel shaft, and the clamping wheel shaft is slidably matched with the arc-shaped sliding groove holes; a gear transmission mechanism is provided at one end or both ends of the clamping wheel shaft, and the gear transmission mechanism includes a lever and a cylindrical transmission tooth. The lever is rotatably arranged outside the ninth bent portion or the seventh bent portion through a lever installation shaft at the fulcrum; a first connecting rod is formed on one side of the lever at its fulcrum, a second connecting rod is formed on the other side of the lever at its fulcrum, the end of the first connecting rod is connected to the corresponding end of the clamping wheel shaft, the end of the second connecting rod is formed into a sector shape and a gear groove is formed on its outer side, and the gear groove is engaged with the cylindrical transmission tooth, and the cylindrical transmission tooth is driven to rotate by a clamping motor.

[0013] In the present invention, the frame is bent from a sheet of material. Therefore, during actual production, relevant installation holes or installation grooves can be first opened at the corresponding positions of the sheet of material through a punching or stamping process, and then the sheet of material can be bent through a bending process, and thus the frame can be preferably formed. In addition, since the frame is bent from a sheet of material, the overall weight of the frame will not be too large, so that the load applied by the trolley body to the overhead line during actual use can be greatly reduced.

[0014] In the present invention, by providing a driving wheel and a driving motor, it is possible to preferably drive the driving wheel to rotate through the driving motor, realize the movement of the trolley body at the overhead line, and further preferably facilitate the adjustment of the position of the trolley body, and thus facilitate the lidar to collect clearer and more accurate sag image information.

[0015] In the present invention, by providing a clamping mechanism, it is possible to adjust the distance between the clamping wheel and the driving wheel through a gear transmission mechanism, so as to preferably realize the loading and removal of the overhead line from the line installation opening and the clamping of the overhead line. Among them, by using a clamping motor to provide the clamping force, a relatively stable clamping force can be provided, and further the shaking of the trolley body during operation can be effectively reduced.

[0016] Preferably, at both ends of the driving wheel shaft corresponding to the ninth bending portion and the seventh bending portion, there are provided driving wheel shaft mounting holes for clearance fit therewith. A driving wheel bearing mounting groove is formed by stamping on the outer periphery of the driving wheel shaft mounting hole, and a driving wheel bearing is provided in the driving wheel bearing mounting groove. The driving wheel shaft is rotatably arranged at the driving wheel bearing mounting groove through the driving wheel bearing.

[0017] In the present invention, by punching a groove to provide the driving wheel bearing mounting groove, it is possible to preferably realize the cooperation between the driving wheel shaft and the ninth bending portion and the seventh bending portion, so that the structure is simple and easy to realize.

[0018] Preferably, the number of driving wheels is 2. Different driving wheels are driven by different driving motors, and the driving motors provided at different driving wheels are respectively arranged outside the ninth bending portion and the seventh bending portion.

[0019] In the present invention, by providing 2 driving wheels, multiple force application points can be provided between the trolley body and the overhead line, so that the trolley body can cooperate with the overhead line more stably, and further the shaking of the trolley body at the overhead line can be preferably reduced, and further the image acquisition of the lidar can be preferably facilitated. In addition, since the driving motors provided at different driving wheels are respectively arranged outside the ninth bending portion and the seventh bending portion, it is possible to preferably prevent the offset of the center of gravity of the trolley body caused by the arrangement of multiple driving motors, and further reduce the shaking of the trolley body. At the same time, since the 2 driving wheels are respectively driven by separate driving motors, the climbing ability of the trolley body can be preferably improved.

[0020] Preferably, the motor shaft of the driving motor is perpendicular to the driving wheel shaft, and the output shaft of the driving motor is connected to the corresponding end of the driving wheel shaft through a bevel gear system.

[0021] In the present invention, by arranging the motor shaft of the driving motor perpendicular to the driving wheel shaft, it is possible to preferably reduce the size of the trolley body in terms of thickness, and thus it is preferably beneficial to the stability of the trolley body at the overhead line.

[0022] Preferably, the number of clamping wheels is 2. Different clamping wheels achieve position movement through different gear transmission mechanisms. The cylindrical transmission teeth for cooperating with different clamping wheels are meshed with each other, and the clamping motor is only arranged at one of the cylindrical transmission teeth.

[0023] In the present invention, by arranging 2 clamping wheels, multiple force application points can be provided between the trolley body and the overhead line, so that the trolley body can cooperate with the overhead line more stably. Furthermore, it can preferably reduce the shaking of the trolley body at the overhead line, and thus it is preferably convenient for the image acquisition of the lidar. In addition, since the gear transmission mechanisms at different clamping wheels are all driven by the same clamping motor, it is possible to preferably achieve the synchronous movement between different clamping wheels and preferably simplify the overall structure.

[0024] Preferably, gear transmission mechanisms are arranged at both ends of the clamping wheel shaft. The clamping motor is arranged in the clamping wheel installation groove, and both ends of the motor shaft of the clamping motor are respectively engaged with 2 cylindrical transmission teeth for cooperating with both ends of the same clamping wheel shaft.

[0025] In the present invention, by arranging gear transmission mechanisms at both ends of the same clamping wheel shaft, it can not only preferably drive the clamping wheel, but also preferably prevent the center of gravity of the trolley body from shifting.

[0026] Preferably, a reinforcing plate is arranged at the top of the circuit installation cavity. Both ends of the reinforcing plate respectively extend to both ends of the circuit installation cavity, and both sides of the reinforcing plate are respectively connected to the second bending part and the sixth bending part.

[0027] In the present invention, through the arrangement of the reinforcing plate, the strength of the vehicle frame can be preferably enhanced, and the control circuit arranged in the circuit installation cavity can be preferably protected.

[0028] Preferably, a radar installation groove for installing the lidar is formed at one end of the eighth bending part. The radar installation groove is formed by punching grooves at the seventh bending part, the eighth bending part and the ninth bending part and then bending.

[0029] In the present invention, since a lidar is used to collect sag images, it is possible to preferably collect sag images in a relatively harsh environment with low visibility. And since the lidar is installed at the top of the trolley body, it will not cause a large deviation of the center of gravity of the trolley body. And since the top of the trolley body is relatively close to the connection point between the trolley body and the overhead line, when the trolley body shakes, the shaking amplitude at the top of the trolley body is also relatively low, so it is possible to preferably facilitate the lidar to collect sag images.

[0030] Preferably, a plurality of hollow holes are formed by punching at the eighth bending part. Thereby, it is possible to preferably reduce the overall weight of the trolley body.

[0031] Preferably, the GPS positioning device is arranged above the eighth bending part. Thereby, it is possible to preferably prevent a large deviation of the center of gravity of the trolley body and facilitate receiving GPS satellite signals. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic structural diagram of the trolley body in Embodiment 1;

[0033] Figure 2 It is a schematic structural diagram of the vehicle frame in Embodiment 1;

[0034] Figure 3 It is a schematic structural diagram of the driving wheel in Embodiment 1;

[0035] Figure 4 It is a schematic installation structure diagram of the driving wheel in Embodiment 1;

[0036] Figure 5 It is a schematic structural diagram of the clamping wheel in Embodiment 1;

[0037] Figure 6 It is a schematic cooperation diagram of the clamping wheel and the gear transmission mechanism in Embodiment 1;

[0038] Figure 7 It is a schematic block diagram of the control circuit in Embodiment 1. DETAILED DESCRIPTION OF THE INVENTION

[0039] To further understand the content of the present invention, the present invention will be described in detail with reference to the accompanying drawings and embodiments. It should be understood that the embodiments are only for explaining the present invention and not for limiting it.

[0040] Embodiment 1

[0041] As Figure 1As shown in the figure, this embodiment provides a walking trolley for sag observation, which includes a trolley body 100. The trolley body 100 includes a frame 110, and a GPS positioning device 120, a lidar 130, a walking mechanism 140, a clamping mechanism 150, and a control circuit 160 are provided at the frame 110.

[0042] Combined with Figure 2 As shown in the figure, the frame 110 is formed by bending a sheet of material. The frame 110 includes a first bending portion 211, a second bending portion 212, a third bending portion 213, a fourth bending portion 214, a fifth bending portion 215, a sixth bending portion 216, a seventh bending portion 217, an eighth bending portion 218, and a ninth bending portion 219 that are sequentially and perpendicularly bent; the first bending portion 211 and the seventh bending portion 217 are respectively located inside the third bending portion 213 and the fifth bending portion 215. The second bending portion 212, the third bending portion 213, the fourth bending portion 214, and the fifth bending portion 215 together form a cuboid-shaped circuit installation cavity 220, and the control circuit 160 is provided at the circuit installation cavity 220; the first bending portion 211 and the ninth bending portion 219 are located on the same side of the seventh bending portion 217. The first bending portion 211 and the ninth bending portion 219 are located on the same plane, and a line installation opening 230 for cooperating with the overhead line is formed between the first bending portion 211 and the ninth bending portion 219; a clamping wheel installation groove 240 is formed between the first bending portion 211 and the seventh bending portion 217, and a driving wheel installation groove 250 is formed between the ninth bending portion 219 and the seventh bending portion 217.

[0043] In this embodiment, the frame 110 is formed by bending a sheet of material. Therefore, during actual production, relevant installation holes or installation grooves can be first opened at the corresponding positions of the sheet of material through punching or stamping processes, and then the sheet of material can be bent through a bending process, and thus the frame 110 can be preferably formed. In addition, since the frame 110 is formed by bending a sheet of material, the overall weight of the frame 110 will not be too large, thereby greatly reducing the load exerted by the trolley body 100 on the overhead line during actual use.

[0044] Combined with Figure 3 As shown in the figure, the walking mechanism 140 includes a driving wheel 141, and the driving wheel 141 is provided in the driving wheel installation groove 250; the driving wheel 141 includes a driving wheel body 310 and a driving wheel shaft 320 that are fixedly connected in the circumferential direction. The two ends of the driving wheel shaft 320 are respectively rotatably connected to the ninth bending portion 219 and the seventh bending portion 217; one end of the driving wheel shaft 320 extends out of the ninth bending portion 219 or the seventh bending portion 217 and is connected to a driving motor 142. The driving motor 142 is used to drive the driving wheel body 310 to rotate through the driving wheel shaft 320.

[0045] In this embodiment, by providing a driving wheel 141 and a driving motor 142, it is possible to preferably drive the driving wheel 141 to rotate through the driving motor 142, so as to realize the movement of the trolley body 100 at the overhead line, and further preferably facilitate the adjustment of the position of the trolley body 100, and then facilitate the lidar 130 to collect clearer and more accurate sag image information.

[0046] Combined with Figure 4 As shown, drive wheel shaft mounting holes 219a for clearance fit with both ends of the drive wheel shaft 320 are provided at the corresponding positions of the ninth bending portion 219 and the seventh bending portion 217. A drive wheel bearing mounting groove 410 is formed by stamping on the outer periphery of the drive wheel shaft mounting hole 219a. A drive wheel bearing 420 is provided in the drive wheel bearing mounting groove 410, and the drive wheel shaft 320 is rotatably arranged at the drive wheel bearing mounting groove 410 through the drive wheel bearing 420.

[0047] In this embodiment, by punching a groove to provide the drive wheel bearing mounting groove 410, it is possible to preferably realize the cooperation between the drive wheel shaft 320 and the ninth bending portion 219 and the seventh bending portion 217, so that the structure is simple and easy to implement.

[0048] In this embodiment, the number of driving wheels 141 is 2. Different driving wheels 141 are driven by different driving motors 142, and the driving motors 142 provided at different driving wheels 141 are respectively arranged outside the ninth bending portion 219 and the seventh bending portion 217.

[0049] In this embodiment, by providing 2 driving wheels 141, multiple force application points can be provided between the trolley body 100 and the overhead line, so that the trolley body 100 can cooperate with the overhead line more stably, and further preferably reduce the sway of the trolley body 100 at the overhead line, and then preferably facilitate the image acquisition of the lidar 130. In addition, since the driving motors 142 provided at different driving wheels 141 are respectively arranged outside the ninth bending portion 219 and the seventh bending portion 217, it is possible to preferably prevent the offset of the center of gravity of the trolley body 100 caused by the setting of multiple driving motors 142, and further reduce the sway of the trolley body 100. At the same time, since the 2 driving wheels 141 are respectively driven by separate driving motors 142, the climbing ability of the trolley body 100 can be preferably improved.

[0050] In this embodiment, the motor shaft of the driving motor 142 is vertically arranged with the drive wheel shaft 320, and the output shaft of the driving motor 142 is connected to the corresponding end of the drive wheel shaft 320 through a bevel gear system.

[0051] In this embodiment, by arranging the motor shaft of the driving motor 142 to be perpendicular to the driving wheel shaft 320, the size of the trolley body 100 in terms of thickness can be preferably reduced, and thus the stability of the trolley body 100 at the overhead line can be preferably facilitated.

[0052] Combined with Figure 5 and 6 As shown, the clamping mechanism 150 includes a clamping wheel 151, and the clamping wheel 151 is arranged in the clamping wheel mounting groove 240; the clamping wheel 151 includes a rotatably engaged clamping wheel body 510 and a clamping wheel shaft 520, and arc-shaped sliding groove holes 211a are provided at both ends of the ninth bending part 219 and the seventh bending part 217 corresponding to the clamping wheel shaft 520, and the clamping wheel shaft 520 is slidably engaged with the arc-shaped sliding groove holes 211a; a gear transmission mechanism 152 is provided at one end or both ends of the clamping wheel shaft 520, and the gear transmission mechanism 152 includes a lever 152a and a cylindrical transmission tooth 152e. The lever 152a is rotatably arranged outside the ninth bending part 219 or the seventh bending part 217 through a lever mounting shaft 152b at the fulcrum; a first connecting rod 152c is formed on one side of the lever 152a at its fulcrum, and a second connecting rod 152d is formed on the other side of the lever 152a at its fulcrum. The end of the first connecting rod 152c is connected to the corresponding end of the clamping wheel shaft 520, and the end of the second connecting rod 152d is configured as a sector and a gear groove 610 is formed on its outer side. The gear groove 610 is engaged with a cylindrical transmission tooth 152e, and the cylindrical transmission tooth is driven to rotate by a clamping motor 153.

[0053] In this embodiment, by arranging the clamping mechanism 150, the distance between the clamping wheel 151 and the driving wheel 141 can be adjusted through the gear transmission mechanism 152, so that the overhead line can be preferably inserted and removed from the line installation port 230 and the overhead line can be clamped. Among them, by using the clamping motor 153 to provide the clamping force, a relatively stable clamping force can be provided, and thus the shaking of the trolley body 100 during operation can be effectively reduced.

[0054] In addition, the driving motor 142 and the clamping motor 153 in this embodiment can both adopt servo motors with a brake function, so that the moving position and the clamping force of the trolley body 100 can be preferably and accurately controlled. And after the trolley body 100 moves to a predetermined position, by adjusting the clamping force, the braking of the trolley body 100 can also be preferably realized. Therefore, a separate braking device does not need to be provided, so that the structure of the trolley body 100 can be further simplified and its overall weight can be effectively reduced.

[0055] In this embodiment, annular grooves extending circumferentially are provided on the sides of the clamping wheel 151 and the driving wheel 141, so that they can cooperate better with the overhead line. In addition, the clamping wheel 151 and the driving wheel 141 can both be made of hard rubber, which can not only achieve electrical insulation but also improve the friction between the clamping wheel 151 and the driving wheel 141 and the overhead line, thus facilitating the cooperation between the clamping wheel 151 and the driving wheel 141 and the overhead line.

[0056] In this embodiment, the number of the clamping wheels 151 is 2. Different clamping wheels 151 achieve position movement through different gear transmission mechanisms 152. The cylindrical transmission teeth 152e for cooperating with different clamping wheels 151 are meshed with each other, and the clamping motor 153 is only provided at one of the cylindrical transmission teeth 152e.

[0057] In this embodiment, by providing 2 clamping wheels 151, multiple force application points can be formed between the trolley body 100 and the overhead line, so that the trolley body 100 can cooperate with the overhead line more stably, and further can better reduce the shaking of the trolley body 100 at the overhead line, and further can better facilitate the image acquisition of the lidar 130. In addition, since the gear transmission mechanisms 152 at different clamping wheels 151 are all driven by the same clamping motor 153, synchronous movement between different clamping wheels 151 can be better achieved, and the overall structure can be better simplified.

[0058] In this embodiment, gear transmission mechanisms 152 are provided at both ends of the clamping wheel shaft 520. The clamping motor 153 is arranged in the clamping wheel mounting groove 240. The two ends of the motor shaft of the clamping motor 153 are respectively engaged with the 2 cylindrical transmission teeth 152e for cooperating with both ends of the same clamping wheel shaft 520.

[0059] In this embodiment, by providing gear transmission mechanisms 152 at both ends of the same clamping wheel shaft 520, not only can the clamping wheel 151 be better driven, but also the center of gravity deviation of the trolley body 100 can be better prevented.

[0060] In this embodiment, a reinforcing plate 260 is provided at the top of the circuit installation cavity 220. The two ends of the reinforcing plate 260 respectively extend to both ends of the circuit installation cavity 220, and the two sides of the reinforcing plate 260 are respectively connected to the second bending part 212 and the sixth bending part 216.

[0061] In this embodiment, the setting of the reinforcing plate 260 can better enhance the strength of the vehicle frame 110 and can better protect the control circuit 160 arranged in the circuit installation cavity 220.

[0062] In this embodiment, a radar mounting groove 270 for mounting the lidar 130 is formed at one end of the eighth bending portion 218. The radar mounting groove 270 is formed by punching grooves at the seventh bending portion 217, the eighth bending portion 218, and the ninth bending portion 219 and then bending.

[0063] In this embodiment, since the lidar 130 is used to collect the sag images, the sag images can be preferably collected in a relatively harsh environment with low visibility. And since the lidar 130 is installed at the top of the trolley body 100, it will not cause a large deviation of the center of gravity of the trolley body 100. And since the top of the trolley body 100 is relatively close to the connection point between the trolley body 100 and the overhead line, when the trolley body 100 shakes, the shaking amplitude at the top of the trolley body 100 is also relatively low. Therefore, it is preferably convenient for the lidar 130 to collect the sag images.

[0064] In this embodiment, a plurality of hollow holes 218a are formed by punching grooves at the eighth bending portion 218. Thus, the overall weight of the trolley body 100 can be preferably reduced.

[0065] In this embodiment, the GPS positioning device 120 is arranged above the eighth bending portion 218. Thus, it can preferably prevent a large deviation of the center of gravity of the trolley body 100 and is convenient for receiving GPS satellite signals.

[0066] Combined Figure 7 As shown, the control circuit 160 includes a communication unit, a control unit, a first motor control unit, and a second motor control unit. The communication unit is used to realize the signal transmission between the control unit and the ground. The GPS positioning device 120 is used to collect the position information of the trolley body 100 and send it to the ground through the communication unit after being processed by the control unit. The ground can send control instructions to the control unit according to the current position information of the trolley body 100, and then realize the control of the drive motor 142 and the clamping motor 153 through the first motor control unit and the second motor control unit, and further realize the control of the position of the trolley body 100. When the trolley body 100 moves to a predetermined position, the lidar 130 can preferably collect the sag images and then send them to the ground.

[0067] The above schematically describes the present invention and its embodiments. This description is not restrictive. What is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if those of ordinary skill in the art are inspired by it and design similar structural forms and embodiments without creative efforts without departing from the spirit of the present invention, they should all fall within the protection scope of the present invention.

Claims

1. A walking trolley for sag observation, characterized in that: It includes a trolley body (100), and the trolley body (100) includes a frame (110). A GPS positioning device (120), a lidar (130), a traveling mechanism (140), a clamping mechanism (150), and a control circuit (160) are provided at the frame (110). The frame (110) is formed by bending a plate. The frame (110) includes a first bending portion (211), a second bending portion (212), a third bending portion (213), a fourth bending portion (214), a fifth bending portion (215), a sixth bending portion (216), a seventh bending portion (217), an eighth bending portion (218), and a ninth bending portion (219) that are sequentially and perpendicularly bent. The first bending portion (211) and the seventh bending portion (217) are respectively located inside the third bending portion (213) and the fifth bending portion (215). The second bending portion (212), the third bending portion (213), the fourth bending portion (214), and the fifth bending portion (215) together form a cuboid-shaped circuit installation cavity (220), and the control circuit (160) is provided at the circuit installation cavity (220). The first bending portion (211) and the ninth bending portion (219) are located on the same side of the seventh bending portion (217). The first bending portion (211) and the ninth bending portion (219) are located on the same plane, and a line installation opening (230) for cooperating with the overhead line is formed between the first bending portion (211) and the ninth bending portion (219). A clamping wheel installation groove (240) is formed between the first bending portion (211) and the seventh bending portion (217), and a driving wheel installation groove (250) is formed between the ninth bending portion (219) and the seventh bending portion (217). The traveling mechanism (140) includes a driving wheel (141), and the driving wheel (141) is provided in the driving wheel installation groove (250). The driving wheel (141) includes a driving wheel body (310) and a driving wheel shaft (320) that are fixedly connected in the circumferential direction. The two ends of the driving wheel shaft (320) are respectively rotatably connected to the ninth bending portion (219) and the seventh bending portion (217). One end of the driving wheel shaft (320) extends out of the ninth bending portion (219) or the seventh bending portion (217) and is connected to a driving motor (142). The driving motor (142) is used to drive the driving wheel body (310) to rotate through the driving wheel shaft (320). The clamping mechanism (150) includes a clamping wheel (151), and the clamping wheel (151) is arranged in a clamping wheel mounting groove (240); the clamping wheel (151) includes a rotatably engaged clamping wheel body (510) and a clamping wheel shaft (520), and arc-shaped sliding groove holes (211a) are provided at both ends of the ninth bending portion (219) and the seventh bending portion (217) corresponding to both ends of the clamping wheel shaft (520), and the clamping wheel shaft (520) is slidably engaged with the arc-shaped sliding groove holes (211a); a gear transmission mechanism (152) is provided at one end or both ends of the clamping wheel shaft (520), and the gear transmission mechanism (152) includes a lever (152a) and a cylindrical transmission tooth (152e), and the lever (152a) is rotatably arranged outside the ninth bending portion (219) or the seventh bending portion (217) through a lever mounting shaft (152b) at the fulcrum; a first connecting rod (152c) is formed on one side of the lever (152a) located at its fulcrum, a second connecting rod (152d) is formed on the other side of the lever (152a) located at its fulcrum, the end of the first connecting rod (152c) is connected to the corresponding end of the clamping wheel shaft (520), the end of the second connecting rod (152d) is configured as a sector and a gear groove (610) is formed on its outer side, the gear groove (610) is engaged with the cylindrical transmission tooth (152e), and the cylindrical transmission tooth (152e) is driven to rotate by a clamping motor (153); The materials of both the clamping wheel (151) and the driving wheel (141) are made of hard rubber, and annular grooves extending in the circumferential direction for cooperating with the overhead line are provided on the side surfaces of the clamping wheel (151) and the driving wheel (141).

2. The walking trolley for sag observation according to claim 1, wherein: Drive wheel shaft mounting holes (219a) for clearance fit with the drive wheel shaft (320) are provided at both ends of the ninth bending portion (219) and the seventh bending portion (217) corresponding to both ends of the drive wheel shaft (320), a drive wheel bearing mounting groove (410) is formed by stamping on the outer periphery of the drive wheel shaft mounting hole (219a), a drive wheel bearing (420) is provided in the drive wheel bearing mounting groove (410), and the drive wheel shaft (320) is rotatably arranged at the drive wheel bearing mounting groove (410) through the drive wheel bearing (420).

3. The walking trolley for sag observation according to claim 1 or 2, characterized in that: The number of driving wheels (141) is 2, different driving wheels (141) are driven by different driving motors (142), and the driving motors (142) provided at different driving wheels (141) are respectively arranged outside the ninth bending portion (219) and the seventh bending portion (217).

4. The walking trolley for sag observation according to claim 3, characterized in that: The motor shaft of the driving motor (142) is perpendicular to the drive wheel shaft (320), and the output shaft of the driving motor (142) is connected to the corresponding end of the drive wheel shaft (320) through a bevel gear system.

5. The walking trolley for sag observation according to claim 1, characterized in that: The number of clamping wheels (151) is 2, different clamping wheels (151) achieve position movement through different gear transmission mechanisms (152), the cylindrical transmission teeth (152e) for cooperating with different clamping wheels (151) are meshed with each other, and the clamping motor (153) is only provided at one of the cylindrical transmission teeth (152e).

6. The walking trolley for sag observation according to claim 1 or 5, characterized in that: Gear transmission mechanisms (152) are provided at both ends of the clamping wheel shaft (520). The clamping motor (153) is arranged in the clamping wheel mounting groove (240). The two ends of the motor shaft of the clamping motor (153) are respectively engaged with two cylindrical drive teeth (152e) for engaging with both ends of the same clamping wheel shaft (520).

7. The walking trolley for sag observation according to claim 1, characterized in that: A reinforcing plate (260) is provided at the top of the circuit installation cavity (220). The two ends of the reinforcing plate (260) respectively extend to both ends of the circuit installation cavity (220). The two sides of the reinforcing plate (260) are respectively connected to the second bending portion (212) and the sixth bending portion (216).

8. The walking trolley for sag observation according to claim 1, characterized in that: A radar mounting groove (270) for mounting the lidar (130) is formed at one end of the eighth bending portion (218). The radar mounting groove (270) is formed by punching grooves at the seventh bending portion (217), the eighth bending portion (218) and the ninth bending portion (219) and then bending.

9. The walking trolley for sag observation according to claim 1, wherein: Multiple hollow holes (218a) are formed by punching grooves at the eighth bending portion (218).

10. The walking trolley for sag observation according to claim 1, characterized in that: The GPS positioning device (120) is arranged above the eighth bending portion (218).

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