A crank - arm type line - inspection robot

Abstract

The present invention discloses a crank - arm type line - inspection robot, belonging to the technical field of wire - inspection robots. A crank - arm type line - inspection robot includes: a first claw part, a second claw part, and a crank arm connecting the first claw part and the second claw part; both the first claw part and the second claw part are provided with connecting plates; the crank arm includes a first connecting arm, a first vertical rotation assembly, a horizontal rotation assembly, a second vertical rotation assembly, and a second connecting arm connected in sequence; both the first connecting arm and the second connecting arm include a support rod and a telescopic assembly; there is an included angle between the support rods of the first connecting arm and the second connecting arm, and the support rod, the telescopic assembly, and the connecting plate are rotatably connected end to end in sequence and are arranged in a triangular shape. The crank - arm type line - inspection robot of the present invention can achieve the functions of stretching and contracting, and the claw part can achieve movement in the vertical and horizontal directions. It has flexible movement and large displacement of the claw part, meeting the requirements for crossing large obstacles.

Description

Technical Field

[0001] The present invention relates to the technical field of wire inspection robots, and particularly to a crank - arm type wire inspection robot. Background Art

[0002] Ultra - high - voltage transmission lines shoulder the heavy responsibility of power transmission in our country. Their safe and reliable operation is directly related to the stable development of a country's economy. At present, high - voltage and ultra - high - voltage overhead power lines are the main means of long - distance power transmission and distribution. Power lines are an important part of the power system. Since the lines are exposed to the natural environment for a long time, they not only have to bear the internal pressure of normal mechanical loads and electrical loads, but also are subject to external damages such as pollution, lightning strikes, strong winds, landslides, subsidence, and bird damage. The above factors will cause relatively large damage to the power lines. Therefore, power lines need to be inspected regularly, and if there is damage to the power line, it must be replaced in time. At present, existing wire inspection robots can only cross small obstacles and cannot cross large obstacles. Summary of the Invention

[0003] The purpose of the present invention is to provide a crank - arm type wire inspection robot to solve the problem that existing wire inspection robots can only cross small obstacles and cannot cross large obstacles.

[0004] The technical solution of the present invention to solve the above - mentioned technical problems is as follows:

[0005] A crank - arm type wire inspection robot includes: a first claw part, a second claw part, and a crank arm connecting the first claw part and the second claw part; both the first claw part and the second claw part are provided with connecting plates; the crank arm includes a first connecting arm, a first vertical rotation assembly, a horizontal rotation assembly, a second vertical rotation assembly, and a second connecting arm connected in sequence; both the first connecting arm and the second connecting arm include a support rod and a telescopic assembly; there is an included angle between the support rods of the first connecting arm and the second connecting arm, and the support rod, the telescopic assembly, and the connecting plate are rotatably connected end - to - end in sequence and are arranged in a triangular shape.

[0006] The crank - arm type wire inspection robot of the present invention can realize the functions of stretching and contracting, can move the claw part in the vertical direction and the horizontal direction, so that the claw part can be separated from the wire to bypass various obstacles, and can cross obstacles through the overall stretching and contracting. It has flexible movement, large displacement of the claw part, meets the requirements of crossing large and small obstacles, and can inspect wires with different bending degrees due to its overall curved shape.

[0007] The stretching and contracting functions of the articulated line inspection robot: Since the support rod, the telescopic component, and the connecting plate are sequentially rotatably connected end to end and arranged in a triangle, when the claw is fixed on the wire, the extending direction of the connecting plate is fixed. By changing the length of the telescopic device, the extending direction of the support rod can be changed, so that the included angle between the support rods of the first connecting arm and the second connecting arm can be changed, realizing the stretching and contracting functions of the robot.

[0008] The movement of the claw: The first vertical rotation component and the second vertical rotation component can move the claw in the vertical direction, enabling the claw to disengage from the wire or bypass an obstacle. The horizontal rotation component can move the claw in the horizontal direction, enabling the claw to bypass an obstacle.

[0009] Furthermore, the above-mentioned telescopic component includes a piston, a sleeve that cooperate with each other, and a telescopic motor connected to the piston; the piston and the sleeve are respectively connected to the connecting plate and the support rod.

[0010] In the present invention, by the sliding between the piston and the sleeve, the change in the length of the telescopic component is realized. The triangle formed by the support rod, the telescopic component, and the connecting plate will change its shape, thereby changing the extending direction of the support rod and realizing the stretching and contracting functions.

[0011] Furthermore, the above-mentioned horizontal rotation component includes a first horizontal connecting block, a second horizontal connecting block, a horizontal rotation shaft, and a horizontal rotation motor; the first horizontal connecting block and the second horizontal connecting block are respectively connected to the support rods on the first connecting arm and the second connecting arm; the horizontal rotation shaft is connected to the first horizontal connecting block, the second horizontal connecting block, and the motor shaft of the horizontal rotation motor.

[0012] Furthermore, both the first vertical rotation component and the second vertical rotation component include a vertically rotating shaft and a vertical rotation motor connected to each other; the vertically rotating shaft is connected to the corresponding support rod and the connecting block.

[0013] Furthermore, both the first claw and the second claw include a bracket, a support component, and a fastening component; the connecting plate is arranged on the bracket; the support component includes a support wheel connected to the bracket, and the support wheel is provided with a support groove along the circumference; the fastening component includes a sliding component, a rotating component, a fastening wheel mounting frame, and at least one fastening wheel; the sliding component is connected to the bracket; the rotating component is respectively connected to the sliding component and the fastening wheel mounting frame; the fastening wheel is rotatably connected to the fastening wheel mounting frame and the axis of the fastening wheel is parallel to the axis of the support wheel, and the fastening wheel is provided with a fastening groove along the circumference, and the fastening groove is arranged opposite to the support groove.

[0014] The support groove on the support wheel of the present invention is used to place the wire. The fastening wheel can contact the wire under the drive of the sliding assembly and the rotating assembly. The fastening groove squeezes the wire so that the wire can be closely fitted with the support wheel to achieve the clamping operation. Since the sliding assembly has a lifting effect on the fastening wheel, the lifting of the fastening wheel can increase the acting force between the wire and the support wheel and the fastening wheel, so as to meet the change of wire thickness. At the same time, due to the limiting effect of the support groove and the fastening groove, the connection between each claw part and the wire is reliable.

[0015] The rotating assembly can drive the fastening wheel and the fastening wheel mounting bracket to rotate and make the fastening wheel located below the support wheel. The sliding assembly can lift the fastening wheel to make the fastening wheel contact the wire, and then realize the clamping operation between the wire, the fastening wheel and the support wheel.

[0016] Since the reverse operation of the sliding assembly can separate the fastening wheel from the wire, and the reverse operation of the rotating assembly can move the fastening wheel away from the support wheel, the constraint on the lower part of the wire by the fastening wheel can be released, and then each claw part can be lifted through the vertical rotating assembly to realize the wire-off function, and further realize the obstacle-crossing function.

[0017] Furthermore, the above support assembly further includes a spring suspension, and the support wheel is connected to the bracket through the spring suspension.

[0018] When the sliding assembly of the present invention works, it will lift the fastening wheel. The fastening wheel squeezes the support wheel through the wire, and the force received by the support wheel will act on the spring suspension. Through the lifting force of the sliding assembly and the reaction force of the spring suspension, a greater acting force can be generated between the support wheel, the fastening wheel and the wire. When the support wheel and the fastening wheel are matched with the wire, sufficient clamping force can be provided, which is beneficial for the robot to climb the wire with a large elevation angle.

[0019] Furthermore, the above support wheel is connected with a support wheel motor, and the support wheel motor is installed on the spring suspension.

[0020] The support wheel motor of the present invention is used to drive the support wheel to walk on the wire to complete the normal walking function.

[0021] Furthermore, the above support assembly further includes a brake component. The brake component and the fastening wheel are located on the two sides corresponding to the support wheel. One end of the brake component is connected to the bracket, and the other end of the brake component is located in the support groove and is spaced from the groove wall of the support groove.

[0022] When the robot finishes traveling, the sliding component drives the fastening wheel and the support wheel to continue to lift. At this time, the spring suspension is further compressed. After the support wheel is lifted, it will contact and be close to the brake component. The support wheel cannot rotate through the friction force between the support groove and the brake component to realize the locking function.

[0023] Further, the above-mentioned sliding assembly includes a lead screw motor, a lead screw, and a sliding mounting bracket; the lead screw motor is arranged on the bracket; the lead screw is respectively connected to the lead screw motor and the sliding mounting bracket; the sliding mounting bracket is slidably connected to the bracket.

[0024] The sliding assembly of the present invention drives the lead screw to rotate through the lead screw motor to realize the lifting of components such as the rotating assembly, the fastening wheel, and the supporting wheel. When the lead screw is moving, it has stable movement and stable performance, and the fastening wheel and the supporting wheel can achieve stable contact.

[0025] Further, the above-mentioned rotating assembly includes a servo motor and a linkage mechanism; the servo motor is connected to the sliding mounting bracket, and the linkage mechanism is respectively connected to the servo motor and the fastening wheel mounting bracket; a connecting rod is provided on the fastening wheel mounting bracket, and the connecting rod is rotatably connected to the sliding mounting bracket.

[0026] The present invention uses a servo motor as the actuating component of the rotating assembly. Only by rotating a small angle can the fastening wheel be completely separated from the wire, and at the same time, only by rotating a small angle can a large clamping force be generated. The sliding assembly is not only connected to the fastening wheel mounting bracket through the rotating assembly, but also connected to the fastening wheel mounting bracket through the connecting rod. The two rotation connection points can support and turn the fastening wheel mounting bracket through the lever principle.

[0027] The present invention has the following beneficial effects:

[0028] (1) The articulated line inspection robot of the present invention can realize the stretching and contracting functions, and can move the claw part vertically and horizontally, so that the claw part can be separated from the wire and bypass various obstacles, and can cross the obstacles through the overall stretching and contracting. It has flexible movement and large displacement of the claw part, meeting the obstacle crossing requirements for large and small obstacles. Since the whole is in a curved shape, it can inspect wires with different bending degrees.

[0029] (2) In each claw part of the present invention, the support groove on the support wheel is used to place the wire. The fastening wheel can contact the wire under the drive of the sliding assembly and the rotating assembly. The fastening groove squeezes the wire so that the wire can be closely matched with the support wheel to realize the clamping operation. Since the sliding assembly has a lifting effect on the fastening wheel, the lifting of the fastening wheel can increase the acting force between the wire and the support wheel and the fastening wheel, so as to meet the change of wire thickness. At the same time, due to the limiting effect of the support groove and the fastening groove, the connection between each claw part and the wire is reliable. Brief Description of the Drawings

[0030] Figure 1 is a schematic diagram of the mechanism of the articulated line inspection robot of the present invention;

[0031] Figure 2 is a schematic diagram of the connection structure between the first connecting arm and the connecting plate of the present invention;

[0032] Figure 3 Schematic diagram of the structure between the first connecting arm, the first vertical rotation assembly, the horizontal rotation assembly, the second vertical rotation assembly and the second connecting arm of the present invention;

[0033] Figure 4 Stereoscopic structure diagram of the first claw part of the present invention;

[0034] Figure 5 Another stereoscopic structure diagram of the first claw part of the present invention;

[0035] Figure 6 Schematic diagram of the structure of the fastening component of the present invention.

[0036] In the figure: 10 - bracket; 20 - support assembly; 21 - support wheel; 22 - support groove; 23 - spring suspension; 24 - brake component; 30 - fastening component; 31 - sliding component; 32 - rotating component; 33 - fastening wheel mounting bracket; 34 - fastening wheel; 35 - fastening groove; 36 - connecting rod; 40 - connecting plate; 100 - first claw part; 110 - second claw part; 200 - curved arm; 210 - first connecting arm; 211 - support rod; 212 - telescopic assembly; 213 - piston; 214 - sleeve; 215 - telescopic motor; 220 - first vertical rotation assembly; 221 - vertical rotation shaft; 222 - vertical rotation motor; 230 - horizontal rotation assembly; 231 - first horizontal connection block; 232 - second horizontal connection block; 233 - horizontal rotation motor; 240 - second vertical rotation assembly; 250 - second connecting arm; 311 - lead screw motor; 312 - lead screw; 313 - sliding mounting bracket; 321 - servo; 322 - linkage mechanism. Detailed implementation manners

[0037] The principles and features of the present invention will be described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0038] Embodiment

[0039] Please refer to Figure 1 , a curved - arm type line - inspection robot, comprising: a first claw part 100, a second claw part 110 and a curved arm 200. The curved arm 200 is bent downward, and its two ends are respectively connected to the first claw part 100 and the second claw part 110. Connecting plates 40 are respectively connected to the first claw part 100 and the second claw part 110. The curved arm 200 includes a first connecting arm 210, a first vertical rotation assembly 220, a horizontal rotation assembly 230, a second vertical rotation assembly 240 and a second connecting arm 250 which are connected in sequence. The first connecting arm 210 and the second connecting arm 250 are respectively connected to the connecting plates 40 on the first claw part 100 and the second claw part 110.

[0040] The structures of the first connecting arm 210 and the second connecting arm 250 are the same. Only the structure of the first connecting arm 210 will be described in this embodiment. Please refer to Figure 2 , the first connecting arm 210 includes a support rod 211 and a telescopic assembly 212. The two ends of the support rod 211 are respectively connected to the connecting plate 40 on the first claw portion 100 and the first vertical rotation assembly 220 (the two ends of the second connecting arm 250 are respectively connected to the connecting plate 40 on the second claw portion 110 and the second vertical rotation assembly 240). There is an included angle between the support rods 211 of the first connecting arm 210 and the second connecting arm 250. The telescopic assembly 212 includes a piston 213, a sleeve 214, and a telescopic motor 215. The piston 213 is matched with the sleeve 214 and connected to the telescopic motor 215. The piston 213 and the sleeve 214 are respectively connected to the connecting plate 40 and the support rod 211. The support rod 211, the connecting plate 40, and the telescopic assembly 212 are connected end to end in sequence to form a triangle. Driven by the telescopic motor 215, the length of the telescopic assembly 212 will change. Since the connecting plate 40 is fixed to the wire through the first claw portion 100, the extending direction of the support rod 211 can be changed, and the angle between the support rods 211 of the first connecting arm 210 and the second connecting arm 250 will change, realizing the stretching and contracting functions of the robot.

[0041] Please refer to Figure 3 , the horizontal rotation assembly 230 includes a first horizontal connecting block 231, a second horizontal connecting block 232, a horizontal rotation shaft (not shown), and a horizontal rotation motor 233. The horizontal rotation shaft is vertically arranged and is respectively connected to the first horizontal connecting block 231, the second horizontal connecting block 232, and the horizontal rotation motor 233. Under the drive of the horizontal rotation motor 233, rotation will occur between the first horizontal connecting block 231 and the second horizontal connecting block 232.

[0042] Both the first vertical rotation assembly 220 and the second vertical rotation assembly 240 include a vertical rotation shaft 221 and a vertical rotation motor 222. The vertical rotation shaft 221 is vertically arranged and connected to the vertical rotation motor 222. The vertical rotation shaft 221 in the first vertical rotation assembly 220 is respectively connected to the support rod 211 on the first connecting arm 210 and the first horizontal connecting block 231. The vertical rotation shaft 221 in the second vertical rotation assembly 240 is respectively connected to the support rod 211 on the second connecting arm 250 and the second horizontal connecting block 232.

[0043] The structures of the first claw portion 100 and the second claw portion 110 are the same. Only the structure of the first claw portion 100 will be described in this embodiment.

[0044] Please refer to Figure 4 and Figure 5, the first claw part 100 includes: a bracket 10, a support assembly 20, and a fastening assembly 30. The support assembly 20 is disposed within the bracket 10, the fastening assembly 30 is disposed on one side of the bracket 10, and a connecting plate 40 is connected to the bracket 10.

[0045] The support assembly 20 includes a support wheel 21, a spring suspension 23, and a brake member 24. A support groove 22 is provided in the circumferential direction of the support wheel 21 for limiting the wire. A support wheel motor (not shown) is provided on the support wheel 21. The support wheel motor is mounted on the spring suspension 23, and the motor shaft of the support wheel motor is connected to the support wheel 21. When the support wheel 21 is stressed, the spring in the spring suspension 23 can be compressed through the connection of the support wheel motor. The spring suspension 23 is mounted on the bracket 10, so that the support wheel 21 is suspended on the bracket 10. One end of the brake member 24 is fixedly connected to the bracket 10, and the other end is located in the support groove 22 and has a gap with the groove wall of the support groove 22. In this embodiment, the support groove 22 is an annular groove with a trapezoidal cross-section.

[0046] Please refer to Figure 6 , the fastening assembly 30 includes a sliding assembly 31, a rotating assembly 32, a fastening wheel mounting bracket 33, and at least one fastening wheel 34. The sliding assembly 31 is mounted on the bracket 10. The rotating assembly 32 is respectively connected to the sliding assembly 31 and the fastening wheel mounting bracket 33. The fastening wheel 34 is mounted on the fastening wheel mounting bracket 33.

[0047] The sliding assembly 31 includes a lead screw motor 311, a lead screw 312, and a sliding mounting bracket 313. The lead screw motor 311 is mounted on the bracket 10. The lead screw 312 is vertically arranged and is respectively connected to the motor shaft of the lead screw motor 311 and the sliding mounting bracket 313. The sliding mounting bracket 313 is connected to the bracket 10 through a slider. Driven by the lead screw motor 311, the sliding mounting bracket 313 slides on the bracket 10 along the extension direction of the lead screw 312.

[0048] The rotating assembly 32 includes a servo motor 321 and a linkage mechanism 322. The servo motor 321 is mounted on the sliding mounting bracket 313. One end of the linkage mechanism 322 is connected to the servo motor 321, and the other end of the linkage mechanism 322 is connected to the fastening wheel mounting bracket 33. Driven by the servo motor 321, the linkage mechanism 322 can drive the fastening wheel mounting bracket 33 to rotate, so as to drive the fastening wheel 34 to approach or move away from the support wheel 21. In this embodiment, the linkage mechanism 322 is provided with a protrusion. When the linkage mechanism 322 rotates to a straight position, the protrusion will prevent the linkage mechanism 322 from continuing to rotate. The mechanical self-locking of the linkage mechanism 322 enables the servo motor 321 not to provide any torque during clamping, and the clamping force is all provided by the sliding assembly 31, which can not only realize the quick opening and closing between the support wheel 21 and the fastening wheel 34, but also provide a large clamping force.

[0049] A connecting rod 36 is provided on the fastening wheel mounting bracket 33. One end of the connecting rod 36 is connected to the fastening wheel mounting bracket 33, and the other end of the connecting rod 36 is rotatably connected to the sliding mounting bracket 313. The sliding assembly 31 is not only connected to the fastening wheel mounting bracket 33 through the rotating assembly 32, but also connected to the fastening wheel mounting bracket 33 through the connecting rod 36. The two rotating connection points can support and steer the fastening wheel mounting bracket 33 through the lever principle.

[0050] The fastening wheel 34 is rotatably connected to the fastening wheel mounting bracket 33. A fastening groove 35 is provided in the circumferential direction of the fastening wheel 34. The axis of the fastening wheel 34 is parallel to the axis of the supporting wheel 21, and the fastening groove 35 is arranged opposite to the supporting groove 22. The fastening wheel 34 and the braking member 24 are located on the two opposite sides corresponding to the supporting wheel 21. The fastening wheel 34 can be driven by the rotating assembly 32 to rotate below the supporting wheel 21 and make the fastening groove 35 opposite to the supporting groove 22. The fastening wheel 34 can also be driven by the sliding assembly 31 to approach or move away from the supporting wheel 21. Under the action of the sliding assembly 31, the fastening wheel 34 and the supporting wheel 21 clamp the electric wire together. In this embodiment, the number of the fastening wheels 34 is 3. The 3 fastening wheels 34 can place the electric wire in a bent state in the supporting groove 22, increasing the friction between the electric wire and the groove wall of the supporting groove 22. The fastening groove 35 is an annular groove with a trapezoidal cross-section. In other embodiments of the present invention, the number of the fastening wheels 34 can also be 1, 2, 4, etc.

[0051] The process of the first claw part 100 clamping the electric wire: The rotating assembly 32 can drive the fastening wheel 34 and the fastening wheel mounting bracket 33 to rotate, and make the fastening wheel 34 located below the supporting wheel 21. The sliding assembly 31 can lift the fastening wheel 34 to make the fastening wheel 34 contact with the electric wire. The sliding assembly 31 continues to lift the fastening wheel 34 to make the electric wire closely adhere to the fastening groove 35 and the supporting groove 22, realizing the clamping operation between the electric wire, the fastening wheel 34 and the supporting wheel 21.

[0052] The locking process of the first claw part 100: After the first claw part 100 clamps the electric wire, the sliding assembly 31 continues to work, driving the supporting wheel 21 to move upward until it contacts the braking member 24, so that the locking function can be realized through the friction between the braking member 24 and the groove wall of the supporting groove 22.

[0053] The process of the first claw part 100 releasing the electric wire: The sliding assembly 31 works in the reverse direction to separate the fastening wheel 34 from the electric wire, and then the rotating assembly 32 works in the reverse direction to move the fastening wheel 34 away from the supporting wheel 21, releasing the constraint on the lower part of the electric wire by the fastening wheel 34, realizing the release of the first claw part 100 from the electric wire. Furthermore, the first claw part 100 can be lifted through the vertical rotating assembly to realize the wire-off function, and further realize the obstacle-crossing function.

[0054] The following describes the walking and obstacle-crossing processes of the guide-rail type line patrol robot in the order that when the articulated arm type line patrol robot walks, the first claw part 100 is in the front and the second claw part 200 is in the rear.

[0055] Normal walking process of the articulated arm type line patrol robot: The first claw part 100 and the second claw part 110 are respectively tightly held against the wire, the articulated arm 200 is in a bent state, and by the rotation of the support wheel motors in the first claw part 100 and the second claw part 110, the first claw part 100 and the second claw part 110 are driven to walk normally on the wire.

[0056] The articulated arm type line patrol robot rolls over small obstacles: The first claw part 100 is loosened from the wire, the second claw part 110 remains tightly held against the wire, and by the rotation of the support wheel motors in the first claw part 100 and the second claw part 110, the first claw part 100 is driven to roll over the small obstacle. After the first claw part 100 rolls over the small obstacle, it is tightly held against the wire, the second claw part 110 is loosened from the wire, and by the rotation of the support wheel motors in the first claw part 100 and the second claw part 110, the second claw part 110 is driven to roll over the small obstacle, so as to realize that the robot rolls over the small obstacle.

[0057] The articulated arm type line patrol robot bypasses small or large obstacles for the obstacle-crossing process: The first claw part 100 is loosened from the wire, the second claw part 110 remains tightly held against the wire, the first vertical rotation assembly 220 rotates, so that the first claw part 100 breaks away from the wire and crosses the obstacle in the vertical direction. The telescopic assembly 212 in the first claw part 100 and the second claw part 110 moves, so that the robot extends, thus crossing the obstacle. The first vertical rotation assembly 220 rotates in the reverse direction, so that the first claw part 100 contacts the wire and the first claw part 100 is tightly held against the wire. The second claw part 110 is loosened from the wire and moves towards the direction of the first claw part 100. The telescopic assembly 212 in the first claw part 100 and the second claw part 110 moves, so that the robot contracts and returns to the initial state. If it cannot cross the obstacle in the vertical direction, after the first claw part 100 breaks away from the wire, the horizontal rotation assembly 230 works, so that the first claw part 100 crosses the obstacle from the side. The obstacle-crossing process of the second claw part 110 is the same as that of the first claw part 100.

[0058] The above are only the preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A crank - arm type line - patrol robot, characterized in that, it includes: a first claw part (100), a second claw part (110), and a crank arm (200) connecting the first claw part (100) and the second claw part (110); both the first claw part (100) and the second claw part (110) are provided with connecting plates (40); the crank arm (200) includes a first connecting arm (210), a first vertical rotation assembly (220), a horizontal rotation assembly (230), a second vertical rotation assembly (240), and a second connecting arm (250) connected in sequence; both the first connecting arm (210) and the second connecting arm (250) include a support rod (211) and a telescopic assembly (212); there is an included angle between the support rods (211) of the first connecting arm (210) and the second connecting arm (250), and the support rods (211), the telescopic assemblies (212), and the connecting plates (40) are rotatably connected end - to - end in sequence and are arranged in a triangle; the telescopic assembly (212) includes a piston (213), a sleeve (214) that cooperate with each other, and a telescopic motor (215) connected to the piston (213); the piston (213) and the sleeve (214) are respectively connected to the connecting plate (40) and the support rod (211); the horizontal rotation assembly (230) includes a first horizontal connecting block (231), a second horizontal connecting block (232), a horizontal rotation shaft, and a horizontal rotation motor (233); the first horizontal connecting block (231) and the second horizontal connecting block (232) are respectively connected to the support rods (211) on the first connecting arm (210) and the second connecting arm (250); the horizontal rotation shaft is connected to the first horizontal connecting block (231), the second horizontal connecting block (232), and the motor shaft of the horizontal rotation motor (233); both the first vertical rotation assembly (220) and the second vertical rotation assembly (240) include a vertical rotation shaft (221) and a vertical rotation motor (222) connected to each other; the vertical rotation shaft (221) is connected to the corresponding support rod and connecting block; The first claw part (100) and the second claw part (110) both include a bracket (10), a support assembly (20), and a fastening assembly (30); the connecting plate (40) is arranged on the bracket (10); the support assembly (20) includes a support wheel (21) connected to the bracket (10), and the support wheel (21) is provided with a support groove (22) along the circumferential direction; the fastening assembly (30) includes a sliding assembly (31), a rotating assembly (32), a fastening wheel mounting bracket (33), and at least one fastening wheel (34); the sliding assembly (31) is connected to the bracket (10); the rotating assembly (32) is respectively connected to the sliding assembly (31) and the fastening wheel mounting bracket (33); the fastening wheel (34) is rotatably connected to the fastening wheel mounting bracket (33) and the axis of the fastening wheel (34) is parallel to the axis of the support wheel (21), and the fastening wheel (34) is provided with a fastening groove (35) along the circumferential direction, and the fastening groove (35) is arranged opposite to the support groove (22); The sliding assembly (31) includes a lead screw motor (311), a lead screw (312), and a sliding mounting bracket (313); the lead screw motor (311) is arranged on the bracket (10); the lead screw (312) is respectively connected to the lead screw motor (311) and the sliding mounting bracket (313); the sliding mounting bracket (313) is slidably connected to the bracket (10); The rotating assembly (32) includes a servo motor (321) and a linkage mechanism (322); the servo motor (321) is connected to the sliding mounting bracket (313), and the linkage mechanism (322) is respectively connected to the servo motor (321) and the fastening wheel mounting bracket (33); a connecting rod (36) is arranged on the fastening wheel mounting bracket (33), and the connecting rod (36) is rotatably connected to the sliding mounting bracket (313); The support assembly (20) further includes a spring suspension (23), and the support wheel (21) is connected to the bracket (10) through the spring suspension (23); the support wheel (21) is connected with a support wheel motor, and the support wheel motor is installed on the spring suspension (23); The support assembly (20) further includes a braking component (24), the braking component (24) and the fastening wheel (34) are located on two opposite sides corresponding to the support wheel (21), one end of the braking component (24) is connected to the bracket (10), and the other end of the braking component (24) is located in the support groove (22) and is spaced from the groove wall of the support groove (22); when the robot finishes traveling, the sliding assembly (31) drives the fastening wheel (34) and the support wheel (21) to continue to lift. At this time, the spring suspension (23) is further compressed. After the support wheel (21) is lifted, it will contact and approach the braking component (24). Through the frictional force between the support groove (22) and the braking component (24), the support wheel (21) cannot rotate, realizing the locking function; The process of the articulated boom type line inspection robot bypassing small or large obstacles for obstacle crossing: The first claw part (100) releases the wire, the second claw part (110) remains in a tightly held state with the wire, the first vertical rotation assembly (220) rotates to disengage the first claw part (100) from the wire and cross the obstacle in the vertical direction. The telescopic assembly (212) in the first claw part (100) and the second claw part (110) moves to extend the robot, thus crossing the obstacle. The first vertical rotation assembly (220) rotates in the reverse direction to make the first claw part (100) contact the wire and hold the wire tightly. The second claw part (110) releases the wire and moves towards the direction of the first claw part (100). The telescopic assembly (212) in the first claw part (100) and the second claw part (110) moves to contract the robot and return to the initial state. If it cannot cross the obstacle in the vertical direction, after the first claw part (100) disengages from the wire, the horizontal rotation assembly (230) works to make the first claw part (100) cross the obstacle from the side. The obstacle crossing process of the second claw part (110) is the same as that of the first claw part (100).

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