A walking arm mechanism suitable for a wire walking robot

Abstract

The present invention discloses a walking arm mechanism suitable for a wire walking robot, comprising: a walking drive mechanism, which comprises a first fixed frame, on which a walking drive motor and a walking drive wheel are arranged, and the walking drive motor is connected to the walking drive wheel; a lifting mechanism, which comprises a second fixed frame and a lifting arm, the two sides of the lifting arm are respectively connected to the first fixed frame and the second fixed frame, a lifting drive motor is arranged between the lifting arm and the first fixed frame, a driven wheel and a rotation locking mechanism are arranged on the second fixed frame, the driven wheel is parallel to the axis of the walking drive wheel, the rotation locking mechanism comprises a rotating motor and a rolling wheel, the rolling wheel is located below the driven wheel, one end of the rolling wheel is connected to the rotating motor, and the other end is movably connected to the second fixed frame. The present invention controls the lifting mechanism to allow the driven wheel and the rolling wheel to hold the wire to control the downward or upward pressure on the wire, and uses the deformation of the wire with a certain arc to make the walking more stable.

Description

Technical Field

[0001] The invention belongs to the technical field of cable inspection robots, and more specifically relates to a walking arm mechanism suitable for a conductor walking robot. Background Art

[0002] With the development of society, high-voltage transmission lines are responsible for the transmission of electricity in my country, and their safety and reliability are related to the stable development of the economy. At present, the main way of long-distance power transmission is to use high-voltage and ultra-high-voltage overhead lines, but power lines are exposed to the natural environment for a long time. They are not only subject to the internal pressure of normal mechanical loads and power loads, but also to external damage such as dirt, lightning strikes, strong winds, landslides, and subsidence, which will cause the aging of various components on the line. If they are not discovered and eliminated in time, they can develop into various obstacles and pose a threat to the safety and stable operation of the power system. Therefore, line inspection is a basic work to effectively ensure the safe operation of transmission and distribution lines and related equipment. Line inspection work is to grasp the line operation status and changes in the surrounding environment through inspections of transmission and distribution lines, timely discover equipment defects, prevent accidents, or limit faults to a small range, so as to ensure the safety of transmission and distribution lines and the stability of the power system.

[0003] At present, there are two main methods for inspecting transmission lines: ground visual inspection and helicopter aerial survey. Ground visual inspection is carried out through manual line inspection, using the naked eye or telescope to observe the transmission lines. Due to the geographical location and other conditions of the transmission lines, manual line inspection has low accuracy, high labor intensity, and blind spots. Helicopters can carry a variety of instruments and equipment to conduct aerial surveys of transmission lines with high accuracy and efficiency. However, due to the influence of geographical and climatic conditions in the inspection area, there are safety hazards and high inspection costs. There are two main methods for repairing transmission lines (including deicing, obstacle removal, maintenance, etc.): manual repair and machine repair. Manual repair is done by workers climbing onto the transmission lines and then manually operating various tools to repair them. However, this repair method is labor-intensive, dangerous, and inefficient. Machine repair is done by installing various repair tools (including deicers, obstacle removal arms, flamethrowers, etc.) on a wire walking robot, and then remotely controlling the repair work by ground personnel. However, this repair method has high requirements for wire walking robots, and existing wire walking robots are difficult to meet the use requirements. The existing line patrol robots have robot arms that move on the cables. Generally, the robot arms are respectively provided with upper and lower wheels, and the cables are pressed together by the upper and lower wheels to lock the patrol robot on the cables. However, the robot arms in the prior art have limited pressing force because the upper and lower wheels move in a straight line when pressing. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a control lifting mechanism that allows the driven wheel and the rolling wheel to hold the wire while controlling the downward or upward pressure on the wire and using the wire's deformation to a certain arc to make the wire more stable and more adaptable.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: A walking arm mechanism suitable for use with a wire walking robot, comprising:

[0006] A travel drive mechanism, comprising a first fixed frame, on which a travel drive motor and a travel drive wheel are arranged, wherein the travel drive motor is connected to the travel drive wheel;

[0007] The lifting mechanism includes a second fixed frame and a lifting arm, one side of the lifting arm is rotatably connected to the first fixed frame, and the other side is connected to the second fixed frame, a lifting drive motor is arranged between the lifting arm and the first fixed frame, a driven wheel and a rotation locking mechanism are arranged on the second fixed frame, the driven wheel is parallel to the axis of the walking drive wheel, the rotation locking mechanism includes a rotating motor and a rolling wheel, the rolling wheel is located below the driven wheel, one end of the rolling wheel is connected to the rotating motor, and the other end is movably connected to the second fixed frame.

[0008] Furthermore, a torque sensor is provided at the connection between the second fixing frame and the lifting arm.

[0009] Furthermore, a spring plate is provided on the lifting arm, one end of the spring plate is connected to the lifting arm, and the other end is connected to the torque sensor.

[0010] Furthermore, the rotating motor is connected to a rotating shaft, the axis of the rotating shaft is arranged in a vertical direction, and the rotating shaft is connected to one end of the rolling wheel.

[0011] Furthermore, one end of the rolling wheel connected to the rotating shaft is a rotating end, and the other end is a movable end. The second fixed frame is provided with a receiving groove for accommodating the movable end of the rolling wheel. One side of the receiving groove is an entrance and exit, and a limiting mechanism is provided at the second fixed frame corresponding to the entrance and exit.

[0012] The limiting mechanism further comprises a limiting motor, a screw rod and a limiting block, wherein the limiting block is threadedly connected to the screw rod, and the screw rod is connected to the limiting motor.

[0013] Furthermore, a through slot is provided at the second fixing frame corresponding to the entrance and exit, and the limit block passes through the through slot.

[0014] It further includes a bottom sliding mechanism and a steering mechanism. The bottom sliding mechanism includes a support frame, a linear bearing is arranged at the bottom of the support frame, and a second drive mechanism is arranged on the support frame; the steering mechanism includes a steering motor and a harmonic reducer, and the two ends of the harmonic reducer are respectively connected to the steering motor and the walking drive mechanism.

[0015] The invention further comprises a wire clamping device, wherein the wire clamping device is arranged on the first fixing frame.

[0016] Compared with the prior art, the beneficial effects of the present invention are: the sliding mechanism ensures that the relative position of the walking arm on the whole machine can be moved arbitrarily; the steering mechanism realizes that the walking drive mechanism of the walking arm can be arbitrarily turned, thereby realizing 360-degree free rotation of the whole machine; the walking drive mechanism is responsible for hanging the whole machine on the wire and driving the whole machine to walk; the lifting mechanism includes a wire clamping device to ensure that the wire is in the center of the walking drive wheel; the lifting mechanism includes a driven wheel and a rolling wheel, and the lifting mechanism is controlled to allow the driven wheel and the rolling wheel to hold the wire while controlling the downward or upward pressure on the wire, and using the deformation of the wire with a certain arc to make its walking more stable and more adaptable, and the steering mechanism adopts a harmonic reducer to achieve 360-degree rotation without dead angles. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a three-dimensional structural diagram of a gravity-balanced dual-arm inspection robot;

[0018] Figure 2 This is the front view of the gravity center self-balancing dual-arm inspection robot;

[0019] Figure 3 It is the three-dimensional structure diagram of the horizontal slide;

[0020] Figure 4 for Figure 3 Enlarged view of part A in the middle;

[0021] Figure 5 It is a three-dimensional structural diagram of the center of gravity balance box and the lower track;

[0022] Figure 6 It is a three-dimensional structural diagram of the walking arm;

[0023] Figure 7 A three-dimensional structure of a second driving mechanism and a steering mechanism Figure 1 ;

[0024] Figure 8 A three-dimensional structure of a second driving mechanism and a steering mechanism Figure 2 ;

[0025] Fig. 9 It is a three-dimensional structural diagram of the travel drive mechanism;

[0026] Fig.10 It is the front view of the travel drive mechanism and the lifting mechanism;

[0027] Fig.11 It is the three-dimensional structure of the travel drive mechanism and the lifting mechanism Figure 1 ;

[0028] Fig.12 It is the three-dimensional structure of the travel drive mechanism and the lifting mechanism Figure 2 .

[0029] Figure numerals: 1, horizontal slide; 11, upper rail; 12, lower rail; 121, optical axis; 122, synchronous belt; 13, end surface fixing plate; 2, center of gravity balance box; 21, image acquisition device; 22, linear bearing; 3, walking arm; 32, steering mechanism; 321, steering motor; 322, harmonic reducer; 323, support frame; 33, walking drive mechanism; 331, walking drive motor; 332, walking drive wheel ; 333, first fixed frame; 34, lifting mechanism; 341, lifting drive motor; 342, lifting arm; 343, spring plate; 344, torque sensor; 345, second fixed frame; 3456, accommodating groove; 346, rolling wheel; 347, driven wheel; 348, rotating motor; 351, limit block; 352, limit motor; 4, working arm; 5, wire; 61, first motor; 62, synchronous pulley; 63, guide pulley. DETAILED DESCRIPTION

[0030] In the description of the present invention, it should be noted that directional words, such as the terms "center", "lateral (X)", "longitudinal (Y)", "vertical (Z)", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc., indicating directions and positional relationships are based on the directions or positional relationships shown in the accompanying drawings, which are only for the convenience of narrating the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and cannot be understood as limiting the specific scope of protection of the present invention.

[0031] In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features. Therefore, the definition of "first" and "second" features can explicitly or implicitly include one or more of the features. In the description of the present invention, "several" and "a number" mean two or more, unless otherwise clearly and specifically defined.

[0032] A walking arm mechanism suitable for a wire walking robot, comprising:

[0033] The travel drive mechanism 33 includes a first fixed frame 333 , on which a travel drive motor 331 and a travel drive wheel 332 are disposed, and the travel drive motor 331 is connected to the travel drive wheel 332 ;

[0034] The lifting mechanism 34 includes a second fixed frame 345 and a lifting arm 342. One side of the lifting arm 342 is rotatably connected to the first fixed frame 333, and the other side is connected to the second fixed frame 345. A lifting drive motor 341 is arranged between the lifting arm 342 and the first fixed frame 333. A driven wheel 347 and a rotation locking mechanism are arranged on the second fixed frame 345. The driven wheel 347 is parallel to the axis of the walking drive wheel 332. The rotation locking mechanism includes a rotating motor 348 and a rolling wheel 346. The rolling wheel 346 is located below the driven wheel 347. One end of the rolling wheel 346 is connected to the rotating motor 348, and the other end is movably connected to the second fixed frame 345.

[0035] In this embodiment, the travel driving motor 331 drives the travel driving wheel 332 to rotate, a reducer can be arranged between the two, the travel driving wheel 332 is placed on the conductor 5, and the travel arm 3 is driven to travel by the friction between the travel driving wheel 332 and the conductor 5.

[0036] In the lifting mechanism 34, the lifting drive motor 341 is used to drive the lifting angle of the lifting arm 342 and the second fixed frame 345, thereby changing the positions of the driven wheel 347 and the rolling wheel 346, thereby achieving the change of the force and direction of the guide.

[0037] The lifting driving motor 341 may be fixed on the first fixing frame 333 , and the output shaft thereof is connected to the lifting arm 342 , thereby changing the angle between the lifting arm 342 and the first fixing frame 333 .

[0038] When the lifting mechanism 34 moves downward, the driven wheel 347 presses on the wire 5 , and the pressure on the wire 5 is controlled by the output voltage of the lifting drive motor 341 .

[0039] In this embodiment, the rotating motor 348 can be used to control the scroll wheel 346 to stay at different positions, thereby opening or closing the space below the driven wheel 347. When the scroll wheel 346 opens the space below the driven wheel 347, the wire 5 can enter this space, and then the scroll wheel 346 is rotated to close this space, thereby restricting the wire 5 between the driven wheel 347 and the scroll wheel 346, thereby completing the locking of the wire 5.

[0040] Specific as Fig.11 and Fig.12 As shown, the rotating motor 348 is connected to a rotating shaft, the axis of the rotating shaft is arranged in the vertical direction, and the rotating shaft is connected to one end of the rolling wheel 346. In this way, when opening or closing the space below the driven wheel 347, only the rotating motor 348 needs to be moved to make the rolling wheel 346 rotate in the horizontal direction.

[0041] There may be two scroll wheels 346 .

[0042] In this embodiment, a torque sensor 344 is preferably provided at the connection between the second fixing frame 345 and the lifting arm 342 .

[0043] When the lifting drive motor 341 drives the lifting arm 342 and the second fixed frame 345 to lift and move, the torque sensor 344 obtains the force of the lifting mechanism 34 acting on the wire 5 to control the action of the lifting drive motor 341 so that the clamping force on the wire 5 is controllable.

[0044] In this embodiment, a spring plate 343 is preferably provided on the lifting arm 342 , one end of the spring plate 343 is connected to the lifting arm 342 , and the other end is connected to the torque sensor 344 .

[0045] The spring plate 343 provides a buffer structure between the second fixing frame 345 and the lifting arm 342 to prevent the lifting drive motor 341 from being damaged.

[0046] In this preferred embodiment, one end of the rolling wheel 346 connected to the rotating shaft is a rotating end, and the other end is a movable end. The second fixed frame 345 is provided with a receiving groove 3456 for accommodating the movable end of the rolling wheel 346. One side of the receiving groove 3456 is an entrance and exit, and a limiting mechanism is provided at the second fixed frame 345 corresponding to the entrance and exit.

[0047] In this embodiment, a Hall sensor is preferably provided at the receiving groove 3456 , and the Hall sensor can detect whether the movable end of the scroll wheel 346 is in the receiving groove 3456 .

[0048] Preferably, bearings are provided at both the rotating end and the movable end of the rolling wheel 346 .

[0049] The limiting mechanism includes a limiting motor 352 , a screw rod and a limiting block 351 . The limiting block 351 is threadedly connected to the screw rod, and the screw rod is connected to the limiting motor 352 .

[0050] The action of the rotating motor 348 can make the rolling wheel 346 enter or leave the receiving groove 3456. After the rolling wheel 346 enters the receiving groove 3456, the limit motor 352 is actuated to drive the limit block 351 forward and protrude into the receiving groove 3456 through the screw rod, thereby blocking the movable end of the rolling wheel 346 from escaping the receiving groove 3456, thereby achieving the purpose of locking the wire 5. When the rolling wheel 346 needs to be moved out, the limit block 351 retracts and leaves the receiving groove 3456, and does not affect the rotation of the rolling wheel 346 driven by the rotating motor 348.

[0051] The second fixed frame 345 is provided with a through slot at the corresponding entrance and exit, and the limit block 351 passes through the through slot. The limit block 351 can move linearly through the through slot. During the rotation of the screw rod, the limit block 351 does not rotate with the screw rod. Of course, the rotation of the limit block 351 can also be prevented by other existing technical methods such as a sliding shaft.

[0052] This embodiment preferably also includes a bottom sliding mechanism and a steering mechanism 32, the bottom sliding mechanism includes a support frame 323, a linear bearing 22 is arranged at the bottom of the support frame 323, and a second drive mechanism is arranged on the support frame 323; the steering mechanism 32 includes a steering motor 321 and a harmonic reducer 322, and the two ends of the harmonic reducer 322 are respectively connected to the steering motor 321 and the walking drive mechanism 33.

[0053] The steering motor 321 and the harmonic reducer 322 can be connected and driven by a coupling, a belt, a gear, or the like.

[0054] It also includes a wire 5 clamping device, which is arranged on the first fixing frame 333 .

[0055] like Figure 1-9 As shown, the walking arm 3 of this embodiment can be installed on a patrol robot with an obstacle crossing function for use. The patrol robot includes:

[0056] A horizontal slide 1, comprising an upper track 11 and a lower track 12;

[0057] A center-of-gravity balance box 2 is disposed on the lower track 12 and is slidably connected to the lower track 12. A first driving mechanism is disposed between the center-of-gravity balance box and the lower track 12.

[0058] Two walking arms 3, each of which is disposed on the upper rail 11 and is slidably connected to the upper rail 11, specifically, a linear bearing 22 is slidably connected to the upper rail 11;

[0059] The working arm 4 is arranged on the upper track 11 , and the working arm 4 is located between the two walking arms 3 .

[0060] In this embodiment, the rotation axis of the steering mechanism 32 is substantially perpendicular to the ground.

[0061] like Figure 3 and 4As shown, the horizontal slide 1 also includes two end surface fixing plates 13, the lower rail 12 includes two optical axes 121, the two ends of the optical axis 121 are respectively fixed on the two end surface fixing plates 13, the upper rail 11 has the same structure as the lower rail 12, and the center of gravity balance box 2 and the walking arm 3 are respectively connected to the optical axis 121 of the lower rail 12 and the optical axis 121 of the upper rail 11 through linear bearings 22.

[0062] The two optical axes 121 of the lower rail 12 are parallel to each other, and the linear bearings 22 are used to cooperate with the optical axes 121 .

[0063] In this embodiment, the number of the optical axes 121 of the upper track 11 and the lower track 12 may be one, three or more.

[0064] like Figure 5 As shown, the lower rail 12 and the upper rail 11 both include a synchronous belt 122, the ends of the synchronous belt 122 are fixed to the end surface fixing plate 13, the first driving mechanism includes a first motor 61 and a synchronous pulley 62, the synchronous pulley 62 cooperates with the synchronous belt 122 on the lower rail 12, and the first motor 61 is connected to the synchronous pulley 62.

[0065] In this embodiment, the synchronous belt 122 is preferably located between the two optical axes 121 .

[0066] The synchronous belt 122 is in a fixed state on the horizontal slide 1. When the first motor 61 rotates the synchronous pulley 62, the synchronous pulley 62 and the synchronous belt 122 rub against each other, thereby driving the center of gravity balance box 2 to move along the optical axis 121 of the lower track 12, thereby changing the position of the center of gravity.

[0067] In this embodiment, the center of gravity balancing box 2 can use a battery and a first motor 61 (not shown in the center of gravity balancing box 2, and is enclosed in the shell) as counterweight components, and other counterweight blocks can also be used or added.

[0068] like Figure 5 As shown, the first driving mechanism also includes a guide pulley 63, two guide pulleys 63 are provided, and the two guide pulleys 63 are respectively located on both sides of the synchronous pulley 62. The two guide pulleys 63 enable the synchronous belt 122 to contact the synchronous pulley 62 with a larger fitting area to increase friction, prevent slipping, and improve operation accuracy.

[0069] Of course, in the present invention, the synchronous belt 122 can also be replaced with a rack, and the corresponding synchronous pulley 62 adopts a gear, and the center of gravity balance box 2 moves on the optical axis 121 of the lower track 12 by utilizing the cooperation of the gear and the rack.

[0070] In this embodiment, the second driving mechanism is the same as the first driving mechanism, except that the synchronous pulley 62 of the second driving mechanism cooperates with the synchronous belt 122 of the upper track 11 to make the walking arm 3 slide on the optical axis 121 of the upper track 11, and the movement of the walking arm 3 on the upper track 11 and the movement of the center of gravity balance box 2 on the lower track 12 do not interfere with each other.

[0071] like Figure 6-8 As shown, the steering mechanism 32 of this embodiment preferably includes a steering motor 321 and a harmonic reducer 322, and the two ends of the harmonic reducer 322 are respectively connected to the steering motor 321 and the travel drive mechanism 33, and the steering motor 321 is connected to the second drive mechanism.

[0072] When one of the walking arms 3 is hung on the wire 5 and the other walking arm 3 is suspended in the air, the steering motor 321 of the walking arm 3 suspended on the wire 5 can be activated, and then the harmonic reducer 322 makes the walking drive mechanism 33 and the supporting frame 323 below, the horizontal slide 1, and the center of gravity balance box 2 rotate around the axis of the harmonic reducer 322.

[0073] like Figure 1 and 2 As shown, the working arm 4 of the preferred embodiment is slidably connected to the upper rail 11, and a third driving mechanism is arranged between the working arm 4 and the upper rail 11. The structure of the third driving mechanism is the same as that of the first driving mechanism, and only the synchronous pulley 62 of the third driving mechanism cooperates with the synchronous belt 122 of the upper rail 11. The working arm 4 can be moved on the optical axis 121 of the upper rail 11 through the action of the third driving mechanism.

[0074] In this embodiment, the working arm 4 is mainly used for some maintenance on the line, such as: installing a shock-proof hammer, cleaning some foreign objects on the line, etc. The up, down, left and right movement of the mechanism can be realized through the joint module, the working position can be accurately positioned, and the working parts can be installed on the top to realize specific operations; of course, working arms 4 of different forms or structures can be selected according to their functional needs.

[0075] In this embodiment, an image acquisition device 21 is preferably arranged on the center of gravity balance box 2, which can be an optical camera and / or an infrared camera, and can acquire images to realize the acquisition of line patrol information.

[0076] When working, it is divided into several states: line patrol, operation and obstacle crossing.

[0077] Line patrol state: the center of gravity balance box 2 is basically between the two walking arms 3, so that the two walking arms 3 are hung on the wire 5, and the walking drive wheel 332 rotates under the drive of the walking drive motor 331, driving the whole machine to walk on the wire 5, and the optical camera and infrared camera on it are responsible for collecting images to realize the collection of line patrol information.

[0078] Working state: When the machine moves to the working position, the travel drive wheels 332 of the two travel arms 3 are locked, and the working arm 4 moves the working parts to the appropriate position to install the anti-vibration hammer, clean up foreign objects on the line, etc.

[0079] Obstacle state: Figure 2 For example, the walking arm 3 on the left is A, and the walking arm 3 on the right is B. When an obstacle is encountered on one side of the walking arm 3A, the walking arm 3A at one end close to the obstacle is locked on the wire 5, and the walking arm 3B at the other end releases the locking device, and the walking arm 3B rises and detaches from the wire 5 by adjusting the center of gravity balance box 2; the steering mechanism 32 of the walking arm 3A at the fixed end drives the entire mechanism to rotate 180 degrees to cross the obstacle. During the rotation, the steering mechanism 32 of the walking arm 3B rotates 180 degrees, so that the walking drive mechanism 33 faces the wire 5. At this time, the rotating walking arm 3B just reaches the upper end of the wire 5; then the center of gravity is adjusted by the movement of the center of gravity balance box 2 on the lower track 12, and the drive mechanism of the front rotating walking arm 3B is adjusted to a position in contact with the wire 5. The walking arm 3A rotated in the same way is rotated to cross the obstacle.

[0080] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A walking arm mechanism suitable for a wire walking robot, characterized in that: include: A travel drive mechanism, comprising a first fixed frame, on which a travel drive motor and a travel drive wheel are arranged, wherein the travel drive motor is connected to the travel drive wheel; The lifting mechanism comprises a second fixed frame and a lifting arm, one side of the lifting arm is rotatably connected to the first fixed frame, and the other side is connected to the second fixed frame, a lifting drive motor is arranged between the lifting arm and the first fixed frame, a driven wheel and a rotation locking mechanism are arranged on the second fixed frame, the driven wheel is parallel to the axis of the walking drive wheel, the rotation locking mechanism comprises a rotating motor and a rolling wheel, the rolling wheel is located below the driven wheel, one end of the rolling wheel is connected to the rotating motor, and the other end is movably connected to the second fixed frame; The rotating motor is connected to a rotating shaft, the axis of the rotating shaft is arranged in the vertical direction, the rotating shaft is connected to one end of the rolling wheel, and the rolling wheel rotates in the horizontal direction to open or close the space below the driven wheel; One end of the rolling wheel connected to the rotating shaft is a rotating end, and the other end is a movable end; The rolling wheels are provided with two, including an upper rolling wheel and a lower rolling wheel, and the movable ends of the upper rolling wheel and the lower rolling wheel are arranged at an angle; The second fixed frame is provided with a receiving groove for receiving the movable end of the rolling wheel, one side of the receiving groove is an entrance and an exit, and the second fixed frame is provided with a limiting mechanism at the entrance and an exit, and the receiving groove is provided with two, including an upper receiving groove and a lower receiving groove, which are respectively suitable for receiving the movable end of the upper rolling wheel and the movable end of the lower rolling wheel; A torque sensor is arranged at the connection between the second fixing frame and the lifting arm.

2. A walking arm mechanism suitable for use with a wire walking robot according to claim 1, characterized in that: The lifting arm is provided with a spring plate, one end of the spring plate is connected to the lifting arm, and the other end is connected to the torque sensor.

3. A walking arm mechanism suitable for use with a wire walking robot according to claim 2, characterized in that: The limiting mechanism comprises a limiting motor, a screw rod and a limiting block, wherein the limiting block is threadedly connected to the screw rod, and the screw rod is connected to the limiting motor.

4. A walking arm mechanism suitable for use with a wire walking robot according to claim 3, characterized in that: The second fixing frame is provided with a through slot corresponding to the entrance and exit, and the limit block passes through the through slot.

5. A walking arm mechanism suitable for a wire walking robot according to any one of claims 1 to 4, characterized in that: It also includes a bottom sliding mechanism and a steering mechanism. The bottom sliding mechanism includes a supporting frame, a linear bearing is arranged at the bottom of the supporting frame, and a second driving mechanism is arranged on the supporting frame; the steering mechanism includes a steering motor and a harmonic reducer, and the two ends of the harmonic reducer are respectively connected to the steering motor and the walking drive mechanism.

6. A walking arm mechanism suitable for a wire walking robot according to any one of claims 1 to 4, characterized in that: It also includes a wire clamping device, which is arranged on the first fixing frame.

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