A clamping and telescopic obstacle-crossing wire inspection robot

Abstract

The present invention discloses a clamping telescopic obstacle-crossing power line inspection robot. A base control module is fixedly mounted on a data acquisition box, and the base control module is used to adjust the angle between the travel line composed of a driven wheel, a control box and a driving wheel and the transmission line, and to control the separation and fit between the driven wheel and the driving wheel and the transmission line. The base control module is connected to the control box, and the driven wheel is connected to the driving wheel through the control box, and the control box is used to adjust the spacing between the driven wheel and the driving wheel. The control box at the driving wheel is equipped with a walking control module, and the walking control module is used to control the advancement and braking of the driving wheel. The driven wheel and the driving wheel are arranged on the transmission line one after the other. The spacing between the main and driven wheels of the robot of the present invention can be adjusted according to actual conditions, so that the robot can perform stable inspections, has multiple obstacle-crossing modes, simple and stable obstacle-crossing, and adapts to a variety of working environments. The overall weight is light, has high endurance, high safety factor, has universal applicability, and improves the efficiency of inspection work.

Description

Technical Field

[0001] The invention relates to an inspection robot in the field of power line inspection, and in particular to a clamping and telescopic obstacle-crossing wire inspection robot. Background Art

[0002] In recent years, the country has developed rapidly, economic construction has made significant progress, people's living standards have improved, various household appliances have become popular, and domestic electricity supply and demand have expanded. It is necessary to accelerate the construction of digital power grids and the process of modernizing power grids, and promote the construction of a new power system with new energy as the main body.

[0003] In today's national power network planning, electricity needs to go through power generation, transmission and distribution from production to use. In the transmission and transformation link, the transmission line is equivalent to the "artery" of electricity, transmitting electric energy. Cables are widely used, but they are seriously consumed in the process of power transportation of transmission lines. At the same time, there are hidden dangers in the transportation process, such as weather factors, drastic climate changes (such as strong winds, heavy snow, heavy fog, wire icing, heavy rain, etc.), natural disasters (such as earthquakes, river flooding, mountain torrents, forest fires, etc.), line overload and other special circumstances. Manual inspection may cause material losses and even cause personal injuries. While minimizing power loss, ensure the reliability and safety of power supply to the power grid. Robot inspection can improve personnel safety. However, in robot inspection, how the robot crosses obstacles on the transmission line is the key and difficult point in the inspection process. It is of great significance to study how to improve the obstacle crossing ability of power inspection robots. Summary of the invention

[0004] In view of the problems existing in the prior art, the present invention proposes a clamping and telescopic obstacle-crossing wire inspection robot. The clamping and telescopic obstacle-crossing wire inspection robot of the present invention can control the rotation of the control box and the control box body to control the extension and retraction of the master and slave wheels and the disc motor to control the steering of the mechanical arm according to the actual situation of the obstacles on the wires, so as to cross the obstacles and realize the inspection of the power transmission line. The clamping and telescopic obstacle-crossing wire inspection robot of the present invention can help itself to balance and stabilize the autonomous obstacle-crossing inspection, and has good application prospects.

[0005] The technical solution of the present invention is as follows:

[0006] The present invention includes a data acquisition box and two walking mechanisms. The two walking mechanisms are arranged on a power transmission line one after the other. The two walking mechanisms are respectively connected to the front and rear of the data acquisition box. The two walking mechanisms have the same structure and both include a base control module, a control box, a driven wheel, a driving wheel and a walking control module. The base control module is fixedly installed on the data acquisition box, the base control module is connected to the control box, the driven wheel is connected to the driving wheel through the control box, the control box at the driving wheel is installed with the walking control module, the walking control module is used to control the forward movement and braking of the driving wheel, and the driven wheel and the driving wheel are arranged on the power transmission line one after the other with intervals.

[0007] The base control module includes a base, a disc motor, a mechanical arm, a first synchronous pulley, a synchronous belt, a second synchronous pulley and a synchronous pulley motor;

[0008] The base is installed on the data acquisition box, and a disk-shaped motor is installed in the base. The disk-shaped motor controls the base to rotate on the data acquisition box. One end of the mechanical arm and the synchronous wheel motor are installed in the base. The output shaft of the synchronous wheel motor is coaxially fixedly connected to the first synchronous pulley. The other end of the mechanical arm is provided with a second synchronous pulley. The second synchronous pulley is coaxially fixedly connected to the pulley shaft. The pulley shaft is connected to the other end of the mechanical arm, and the pulley shaft is fixedly connected to the control box. The first synchronous pulley and the second synchronous pulley are connected by a synchronous belt to form a synchronous transmission assembly. The rotation of the synchronous wheel motor causes the pulley shaft in the synchronous transmission assembly to rotate, thereby driving the control box to rotate around the pulley shaft.

[0009] The control box includes a control box body, a driven wheel connecting rod, a driving wheel connecting plate, an input gear, an input motor and an output gear shaft;

[0010] The control box body is fixedly connected to the base control module, and an input motor is fixedly installed in the control box body. The output shaft of the input motor is coaxially fixedly connected to the input gear, and the two ends of the output gear shaft are respectively coaxially fixedly connected to the first output gear and the second output gear, and the input gear meshes with the first output gear to form an input and output gear pair; the driven wheel and the driving wheel are arranged at the front and rear of the control box body, and a rack is arranged on the side of one end of the driven wheel connecting rod, and the other end of the driven wheel connecting rod is connected to the driven wheel after passing through the control box body, and a rack is arranged on the side of one end of the driving wheel connecting plate, and the other end of the driving wheel connecting plate is connected to the driving wheel after passing through the control box body, and the travel control module is installed at the other end of the driving wheel connecting plate, and the driven wheel connecting rod and the driving wheel connecting plate are arranged at intervals up and down, and the racks at one end of the driven wheel connecting rod and the driving wheel connecting plate are meshed with the second output gear to form a gear rack pair; the drive of the input motor drives the input and output gear pair, and then drives the gear rack pair, so as to adjust the spacing between the driven wheel and the driving wheel.

[0011] A protruding block is provided on the side opposite to the side where the rack is located at one end of the driven wheel connecting rod, and the driven wheel connecting rod is limited when the protruding block contacts the front side of the control box. A protruding block is provided on the side opposite to the side where the rack is located at one end of the driving wheel connecting plate, and the driving wheel connecting plate is limited when the protruding block contacts the rear side of the control box, thereby controlling the maximum value of the distance between the driving wheel and the driven wheel.

[0012] The walking control module includes a driving wheel motor, a bearing seat and a brake mechanism;

[0013] A motor fixing plate is fixedly installed on the side of the control box, and a bearing seat and a driving wheel motor are fixedly installed on the motor fixing plate. The output shaft of the driving wheel motor passes through the bearing seat and is coaxially fixedly connected with the driving wheel. A brake mechanism is fixedly installed on the control box, and the brake mechanism cooperates with the driving wheel to brake the driving wheel.

[0014] The two walking mechanisms are arranged symmetrically about the center of the data acquisition box.

[0015] The present invention realizes the robot walking and inspecting on the wires by clamping the transmission line with the master and slave wheels of the front and rear pairs of walking mechanisms to drive the data collection box. In the process of overcoming obstacles, the robot of the present invention can automatically adjust to overcome obstacles according to the actual situation of the obstacles. When encountering small obstacles, the walking mode of the robot of the present invention is that the master and slave wheels clamp the wires, and the driving wheel is driven by the forward and reverse rotation control of the motor to drive the robot to walk. The front and rear pairs of master and slave wheels can be controlled by the input motor inside the control box to control the distance between the master and slave wheels, so as to get away from the wires and overcome obstacles; for larger obstacles, the robot realizes the master and slave wheels to adjust the distance by telescoping to both ends, and drives the control box to rotate by synchronous belt control, so that the master and slave wheels are perpendicular to the transmission line to achieve the purpose of overcoming obstacles; when the wire bracket is insulated porcelain, in the process of overcoming obstacles in front, after the master and slave wheels leave the wires, the disk motor can be used to drive the control box to make the master and slave wheels deviate from the wires by a certain angle to bypass the obstacles to achieve overcoming obstacles. Before the walking mechanisms on one side of the robot realize overcoming obstacles, the walking mechanism on the other side of the robot can adjust the telescoping of the master and slave wheels on that side by input motor control according to the actual situation and load, and adjust the distance to a position close to the center of gravity. The control box is rotated through the synchronous belt to make the master and driven wheels on that side fall back to the transmission line, allowing the robot to work stably during the obstacle crossing process.

[0016] The beneficial effects of the present invention are:

[0017] 1. The clamping telescopic robot of the present invention clamps the power transmission line through the master and slave wheels, and the distance between the master and slave wheels can be adjusted, so that the robot can walk on the line more firmly and stably, and can perform inspection work in relatively harsh environments. Lightweight design and long endurance.

[0018] 2. The clamping and telescopic robot of the present invention has various obstacle-crossing modes and can adjust its position and posture according to the actual situation of the obstacle to ensure stable inspection.

[0019] 3. The clamping telescopic robot of the present invention has high working efficiency, is easy to install, is more intelligent, has a high safety factor, and has a long service life. It can load various sensors, perform real-time detection, and improve the efficiency of inspection and wire maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 It is a structural schematic diagram of the control box and the walking mechanism of the present invention;

[0022] Figure 3 It is a schematic diagram of the structure of the base control mechanism of the present invention;

[0023] Figure 4 A schematic diagram showing the comparison of the telescopic state of the walking mechanism of the present invention;

[0024] Figure 5 This is a diagram of adjusting the spacing of the walking mechanism at one end of the present invention;

[0025] Figure 6 This is a schematic diagram of the working state of the obstacle-overcoming driving of the present invention.

[0026] In the figure: 1. data acquisition box, 2. disc motor, 3. robotic arm, 4. first synchronous pulley, 5. synchronous belt, 6. second synchronous pulley, 7. control box, 8. driven wheel connecting rod, 9. driving wheel motor, 10. bearing seat, 11. driving wheel connecting plate, 12. synchronous wheel motor, 13. coupling, 14. brake mechanism, 15. control box cover, 16. transmission line, 17. driven wheel, 18. driving wheel, 19. input gear, 20. input motor, 21. output gear shaft. DETAILED DESCRIPTION

[0027] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0028] like Figure 1 and Figure 5As shown, the present invention includes a data acquisition box and two walking mechanisms, the two walking mechanisms are arranged on the power transmission line 16 one after the other, the two walking mechanisms are respectively connected to the front and rear of the data acquisition box, and the power transmission line 16 is arranged above the data acquisition box between the two walking mechanisms. The two walking mechanisms are arranged symmetrically about the center of the data acquisition box. The two walking mechanisms have the same structure, and both include a base control module, a control box, a driven wheel 17, a driving wheel 18 and a walking control module; the base control module is fixedly installed on the data acquisition box, and the synchronous transmission component of the base control module drives the control box to rotate, which is used to adjust the angle between the travel line composed of the driven wheel 17, the control box and the driving wheel 18 and the power transmission line 16, so that the main and driven wheels are perpendicular to the power transmission line to achieve the purpose of overcoming obstacles; after the main and driven wheels leave the power line, the disk motor of the base control module can drive the mechanical arm to drive the control box to make the main and driven wheels deviate from the power cable 16 and bypass the obstacle to achieve overcoming obstacles. The base control module is connected to the control box, and the driven wheel 17 is connected to the driving wheel 18 through the control box. The control box is used to adjust the distance between the driven wheel 17 and the driving wheel 18. The control box at the driving wheel 18 is equipped with a travel control module, which is used to control the forward movement and braking of the driving wheel 18. The driven wheel 17 and the driving wheel 18 are arranged on the transmission line 16 one after the other.

[0029] like Figure 3 As shown, the base control module includes a base, a disc motor 2, a mechanical arm 3, a first synchronous pulley 4, a synchronous belt 5, a second synchronous pulley 6 and a synchronous wheel motor 12; the base is installed on the data acquisition box, and the disc motor 2 is installed in the base. The disc motor 2 controls the base to rotate on the data acquisition box, thereby controlling the driven wheel 17, the control box and the driving wheel 18 to move away from or approach the transmission line 16 by controlling the mechanical arm 3. Two grooves are provided on the base, and one end of the mechanical arm 3 and the synchronous wheel motor 12 are respectively installed in the two grooves of the base. The output shaft of the synchronous wheel motor 12 is coaxially fixedly connected with the first synchronous pulley 4, and the first synchronous pulley 4 is arranged at a distance from one end of the mechanical arm 3, and the other end of the mechanical arm 3 is arranged at a distance from the other end of the mechanical arm 3. A second synchronous pulley 6 is provided at the end, the first synchronous pulley 4 and the second synchronous pulley 6 are located on the same side of the robot arm 3, the second synchronous pulley 6 is coaxially fixedly connected to the pulley shaft, a bearing is installed in the other end of the robot arm 3, the pulley shaft is connected to the bearing at the other end of the robot arm 3, the pulley shaft is coaxially fixedly connected to the connecting shaft outside the control box body 7 of the control box, the first synchronous pulley 4 and the second synchronous pulley 6 are connected by a synchronous belt 5, that is, the synchronous belt 5 is sleeved outside the first synchronous pulley 4 and the second synchronous pulley 6 to form a synchronous transmission assembly on one side of the robot arm 3, the rotation of the synchronous wheel motor 12 causes the pulley shaft in the synchronous transmission assembly to rotate, thereby driving the control box body 7 of the control box to rotate around the pulley shaft.

[0030] like Figure 2 a and b and Figure 4As shown in a and b, the control box includes a control box body 7, a driven wheel connecting rod 8, a driving wheel connecting plate 11, a control box cover 15, an input gear 19, an input motor 20 and an output gear shaft 21; the control box cover 15 is installed on the outer side of the control box body 7 away from the power transmission line 16, and the outer side of the control box cover 15 is provided with a connecting shaft. The connecting shaft on the outer side of the control box cover 15 of the control box body 7 is fixedly connected to the pulley shaft of the base control module, and the input motor 20 is fixedly installed in the control box body 7. The output shaft of the input motor 20 is coaxially fixedly connected to the input gear 19, and the two ends of the output gear shaft 21 are coaxially fixedly connected to the first output gear and the second output gear respectively, and the input gear 19 is meshed with the first output gear to form an input and output gear pair; the driven wheel 17 and the driving wheel 18 are arranged at the front and rear of the control box body 7, and a rack is provided on the side of one end of the driven wheel connecting rod 8, and the other end of the driven wheel connecting rod 8 passes through the front of the control box body 7 The side is connected to the driven wheel 17 through the driven wheel shaft, and a rack is provided on the side of one end of the driving wheel connecting plate 11. The other end of the driving wheel connecting plate 11 passes through the rear side of the control box 7 and is connected to the driving wheel 18 through the driving wheel shaft. The walking control module is installed at the other end of the driving wheel connecting plate 11. The driven wheel connecting rod 8 and the driving wheel connecting plate 11 are parallel and arranged at intervals. The driven wheel connecting rod 8 and the rack at one end of the driving wheel connecting plate 11 are meshed with the second output gear to form a gear rack pair; a protruding block is provided on the side opposite to the side where the rack is located at one end of the driven wheel connecting rod 8, and the driven wheel connecting rod 8 is limited after the protruding block contacts the front side of the control box 7. A protruding block is provided on the side opposite to the side where the rack is located at one end of the driving wheel connecting plate 11, and the protruding block contacts the rear side of the control box 7 to limit the driving wheel connecting plate 11, thereby controlling the maximum value of the distance between the master and driven wheels. The input motor 20 drives the input and output gear pairs, and then drives the rack and pinion pairs, so as to adjust the distance between the driven wheel 17 and the driving wheel 18 .

[0031] The walking control module includes a driving wheel motor 9, a bearing seat 10, a coupling 13 and a brake mechanism 14; a motor fixing plate is fixedly installed on the side of the other end of the driving wheel connecting plate 11 of the control box, and the bearing seat 10 and the driving wheel motor 9 are fixedly installed on the motor fixing plate. The output shaft of the driving wheel motor 9 is coaxially connected with the coupling 13 and then passes through the bearing seat 10 and is coaxially fixedly connected with the driving wheel shaft of the driving wheel 18. A brake mechanism 14 is fixedly installed on the other end of the driving wheel connecting plate 11 of the control box. The two brake pads of the brake mechanism 14 cooperate with the driving wheel 18 to brake the driving wheel 18.

[0032] The obstacle-crossing motion process of the present invention:

[0033] First, the robot is installed horizontally on the power transmission line circuit by the staff, so that the front and rear master and slave wheels are cut and clamped with the power transmission line, the master and slave wheel driving wheel connecting plate and the driven wheel connecting rod are fixed inside the control box, and the control box is fixed on the data acquisition box sheet metal through the mechanical arm. The synchronous wheel motor is installed in the groove inside the mechanical arm and connected to the control box through the synchronous belt control. When the robot is inspecting the power transmission line, when it encounters an obstacle, according to the obstacle situation, the robot controls the master and slave wheels to adjust the distance between the two wheels through the motor inside the control box, and controls the synchronous belt to drive the control box to rotate through the synchronous wheel motor 12, and the mechanical arm is driven by the disc motor to turn, so as to realize the robot's front and rear walking mechanism to cross the obstacle, so as to realize the obstacle crossing under different obstacle conditions. Before achieving the obstacle crossing, the robot can adjust the master and slave wheels that have not crossed the obstacle through the input motor control according to the actual situation and load, and adjust the distance to a position close to the center of gravity. And the control box is rotated through the synchronous belt to make the walking mechanism on this side fall back to the power transmission line, so that the robot can work stably during the obstacle crossing process.

[0034] When the front walking mechanism encounters an obstacle, the rear walking mechanism adjustment process: When the front walking mechanism encounters an obstacle, the rear walking mechanism can choose whether to adjust according to the actual situation.

[0035] When adjustment is required, the input motor inside the rear walking mechanism control box rotates clockwise to control the input gear to rotate clockwise, and the input gear engages the output gear shaft, causing the gear on the output gear shaft to rotate counterclockwise and drive the connecting rod (plate) rack ends of the master and slave wheels to extend outwards towards each other, and the spacing between the master and slave wheels is adjusted. The master and slave wheels leave the cable, the synchronous wheel motor inside the robot arm rotates clockwise, and the first synchronous pulley rotates clockwise in the same direction. The synchronous belt controls the second synchronous pulley to rotate clockwise, thereby driving the control box to rotate clockwise as a whole, so that the walking mechanism master and slave wheels re-clamp the cable. Ensure that it is attached to the center of gravity with the minimum eccentricity to keep the robot stable over obstacles.

[0036] like Figure 6 As shown in the figure, the obstacle-crossing working process of the front walking mechanism: when the robot encounters an obstacle, the brake mechanism on the driving wheel of the front walking mechanism works to slow down to a stop. The robot starts to cross the obstacle according to the obstacle situation.

[0037] For small obstacles, the master and slave wheels of the front walking mechanism are controlled by the input motor inside the control box to rotate clockwise, and the input gear rotates clockwise. The input gear engages the output gear shaft, causing the gear on the output gear shaft to rotate counterclockwise and drive the rack ends of the connecting rod (plate) of the master and slave wheels to extend outward toward each other, thereby adjusting the distance between the master and slave wheels, thereby breaking away from the wires and crossing the obstacle. For larger obstacles, the robot realizes that the master and slave wheels extend to both ends to adjust the distance, and at the same time, the synchronous wheel motor inside the robotic arm rotates counterclockwise, and the first synchronous pulley rotates counterclockwise in the same direction. The synchronous belt controls the second synchronous pulley to rotate counterclockwise, thereby driving the control box to rotate counterclockwise as a whole, so that the master and slave wheels are further away from the cable line, until the master and slave wheels are perpendicular to the cable line at the maximum obstacle crossing distance, thereby achieving the obstacle crossing purpose; the insulating porcelain bracket, in the process of the master and slave wheels of the walking mechanism to achieve the obstacle crossing in front, after the master and slave wheels have left the cable line, the disc motor can be used to rotate counterclockwise to make the mechanical arm rotate in the direction away from the cable line, driving the control box so that the master and slave wheels of the walking mechanism as a whole deviate from the transmission line at a certain angle to bypass the obstacle to achieve obstacle crossing.

[0038] The front walking mechanism re-grips the cable: The robot continues to walk. When the front walking mechanism crosses the obstacle, the disc motor rotates clockwise to deflect the robot arm toward the cable, driving the control box so that the center plane of the overall master and slave wheels of the walking mechanism coincides with the center plane of the cable. The synchronous belt motor controls the synchronous belt to rotate, driving the control box and the input motor to control the master and slave wheels of the walking mechanism to reduce the distance between them, so that the master and slave wheels of the walking mechanism re-grip the cable and restore the original online walking state.

[0039] When the rear walking mechanism encounters an obstacle, the front walking mechanism adjustment process: When the rear walking mechanism encounters an obstacle, the front walking mechanism can choose whether to adjust according to the actual situation.

[0040] When adjustment is required, the input motor inside the front walking mechanism control box rotates counterclockwise to control the input gear to rotate counterclockwise, and the input gear engages the output gear shaft, causing the gear on the output gear shaft to rotate clockwise and drive the connecting rod (plate) rack ends of the master and slave wheels to extend outwards towards each other, and the spacing between the master and slave wheels is adjusted. The master and slave wheels leave the cable, the synchronous wheel motor inside the robot arm rotates counterclockwise, and the first synchronous pulley rotates counterclockwise in the same direction. The synchronous belt controls the second synchronous pulley to rotate counterclockwise, thereby driving the control box to rotate counterclockwise as a whole, so that the walking mechanism master and slave wheels re-clamp the cable. Ensure that it is attached to the center of gravity with the minimum eccentricity to keep the robot stable over obstacles.

[0041] The working process of the rear walking mechanism overcoming obstacles: When the robot encounters an obstacle, the brake mechanism on the driving wheel of the rear walking mechanism works to slow down to a stop. The robot starts to overcome obstacles according to the situation of the obstacle. For small obstacles, the master and slave wheels of the rear walking mechanism are controlled by the input motor inside the control box to rotate counterclockwise, and the input gear rotates counterclockwise. The input gear engages the output gear shaft, so that the gear on the output gear shaft rotates clockwise and drives the connecting rod (plate) rack ends of the master and slave wheels to extend outwards towards each other, adjusting the distance between the master and slave wheels, so as to break away from the wires and overcome obstacles; for larger obstacles, the robot realizes that the master and slave wheels extend to both ends to adjust the distance, and at the same time, the synchronous wheel motor inside the mechanical arm rotates clockwise, and the first synchronous pulley rotates clockwise in the same direction. The synchronous belt controls the second synchronous pulley to rotate clockwise, thereby driving the control box to rotate clockwise as a whole, so that the master and slave wheels are further away from the cable line, until the master and slave wheels are perpendicular to the cable line at the maximum obstacle crossing distance, thereby achieving the obstacle crossing purpose; the insulating porcelain bracket, in the process of the master and slave wheels of the walking mechanism to achieve the obstacle crossing in front, after the master and slave wheels have left the cable line, the disc motor can be used to rotate counterclockwise to make the mechanical arm rotate in the direction away from the cable line, driving the control box so that the master and slave wheels of the walking mechanism as a whole deviate from the transmission line at a certain angle to bypass the obstacle to achieve obstacle crossing.

[0042] The rear walking mechanism re-grips the cable: The robot continues to walk. When the front walking mechanism crosses the obstacle, the disc motor rotates clockwise to deflect the robot arm toward the cable, driving the control box so that the center plane of the overall master and slave wheels of the walking mechanism coincides with the center plane of the cable. The synchronous belt motor controls the synchronous belt to rotate, driving the control box and the input motor to control the master and slave wheels of the walking mechanism to reduce the distance between them, so that the master and slave wheels of the walking mechanism re-grip the cable and restore the original online walking state.

[0043] The disc-shaped motor-controlled rotating structure in the base mechanism of the present invention can be replaced by a screw linear module mechanism that can move left and right according to actual conditions.

Claims

1. A clamping and telescopic obstacle-crossing wire inspection robot, characterized in that: The invention comprises a data collection box and two walking mechanisms, the two walking mechanisms are arranged on a power transmission line (16) one behind the other, the two walking mechanisms are respectively connected to the front and rear of the data collection box, the two walking mechanisms have the same structure, and both comprise a base control module, a control box, a driven wheel (17), a driving wheel (18) and a walking control module; the base control module is fixedly mounted on the data collection box, the base control module is connected to the control box, the driven wheel (17) is connected to the driving wheel (18) via the control box, the control box at the driving wheel (18) is equipped with a walking control module, the walking control module is used to control the forward movement and braking of the driving wheel (18), and the driven wheel (17) and the driving wheel (18) are arranged on the power transmission line (16) one behind the other, with intervals therebetween; The base control module comprises a base, a disc motor (2), a mechanical arm (3), a first synchronous pulley (4), a synchronous belt (5), a second synchronous pulley (6) and a synchronous wheel motor (12); The base is installed on the data acquisition box, a disk-shaped motor (2) is installed in the base, the disk-shaped motor (2) controls the base to rotate on the data acquisition box, one end of the mechanical arm (3) and the synchronous wheel motor (12) are installed in the base, the output shaft of the synchronous wheel motor (12) is coaxially fixedly connected to the first synchronous belt pulley (4), the other end of the mechanical arm (3) is provided with a second synchronous belt pulley (6), the second synchronous belt pulley (6) is coaxially fixedly connected to the pulley shaft, the pulley shaft is connected to the other end of the mechanical arm (3), the pulley shaft is fixedly connected to the control box, the first synchronous belt pulley (4) and the second synchronous belt pulley (6) are connected by a synchronous belt (5) to form a synchronous transmission component, the rotation of the synchronous wheel motor (12) causes the pulley shaft in the synchronous transmission component to rotate, thereby driving the control box to rotate around the pulley shaft; The control box comprises a control box body (7), a driven wheel connecting rod (8), a driving wheel connecting plate (11), an input gear (19), an input motor (20) and an output gear shaft (21); The outside of the control box (7) is fixedly connected to the base control module, and an input motor (20) is fixedly installed inside the control box (7). The output shaft of the input motor (20) is coaxially fixedly connected to the input gear (19), and the two ends of the output gear shaft (21) are respectively coaxially fixedly connected to the first output gear and the second output gear, and the input gear (19) meshes with the first output gear to form an input and output gear pair; the driven wheel (17) and the driving wheel (18) are arranged at the front and rear of the control box (7), and a rack is arranged on the side of one end of the driven wheel connecting rod (8), and the other end of the driven wheel connecting rod (8) passes through the control box (7) and is connected to the driven wheel (17). A rack is provided on the side of one end of the driving wheel connecting plate (11); the other end of the driving wheel connecting plate (11) passes through the control box (7) and is connected to the driving wheel (18); the travel control module is installed at the other end of the driving wheel connecting plate (11); the driven wheel connecting rod (8) and the driving wheel connecting plate (11) are arranged with an interval up and down; the driven wheel connecting rod (8) and the racks at one end of the driving wheel connecting plate (11) are meshed with the second output gear to form a gear rack pair; the input motor (20) is driven to drive the input and output gear pairs, and then drive the gear rack pair, so as to adjust the spacing between the driven wheel (17) and the driving wheel (18); A protruding block is provided on the side opposite to the side where the rack is located at one end of the driven wheel connecting rod (8), and the protruding block limits the position of the driven wheel connecting rod (8) after contacting the front side of the control box (7); a protruding block is provided on the side opposite to the side where the rack is located at one end of the driving wheel connecting plate (11), and the protruding block limits the position of the driving wheel connecting plate (11) after contacting the rear side of the control box (7), thereby controlling the maximum value of the spacing between the driving wheel (18) and the driven wheel (17); The travel control module comprises a driving wheel motor (9), a bearing seat (10) and a brake mechanism (14); A motor fixing plate is fixedly mounted on the side of the control box, a bearing seat (10) and a driving wheel motor (9) are fixedly mounted on the motor fixing plate, an output shaft of the driving wheel motor (9) passes through the bearing seat (10) and is coaxially fixedly connected to the driving wheel (18), and a brake mechanism (14) is fixedly mounted on the control box, the brake mechanism (14) cooperates with the driving wheel (18) and is used to brake the driving wheel (18).

2. The clamping and telescopic obstacle-crossing wire inspection robot according to claim 1 is characterized in that: The two walking mechanisms are arranged symmetrically about the center of the data acquisition box.

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