Single-wheel horizontal driving line hanging mobile robot

Abstract

The invention discloses a single-wheel horizontal driving line hanging mobile robot which comprises a rack, a control box, a walking mechanism and a clamping mechanism, the rack comprises a lower fixing plate, a side connecting plate and an upper mounting plate, the lower end of the lower fixing plate is used for being connected with and fixing the control box, and the upper end of the lower fixing plate is connected with the upper mounting plate through the side connecting plate; a walking mechanism is arranged at the front end of the upper mounting plate, walking wheels of the walking mechanism are located below the upper mounting plate, the clamping mechanism is mounted at the rear end of the upper mounting plate, and the clamping mechanism is used for pushing a to-be-inspected line located below the mounting plate and enabling the to-be-inspected line to be attached to the end faces of the walking wheels or loosening pushing of the to-be-inspected line. The moving effect of the robot is guaranteed, the structure of the robot is simplified, the robot has the advantages of being low in weight, good in portability and low in energy consumption, the stability of the robot during operation is improved, mounting and dismounting of the robot during online and offline can be conveniently achieved, the working efficiency is improved, and the safety risk is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of line patrol robots, and in particular to a single-wheel horizontally driven line-hanging mobile robot. Background Art

[0002] Line patrol robots are automated inspection equipment used to check and monitor the status of lines or pipelines. They are used in factories, warehouses, logistics centers and outdoor lines to regularly inspect the operation of equipment, systems or lines. Automatic line patrol by line patrol robots can detect problems more efficiently, provide early warnings and take corresponding maintenance or repair measures, reducing the workload and risks of manual inspections. However, existing line patrol robots have some problems, including heavy weight, non-portability, poor adaptability to lines of different curvatures, unstable movement, and difficulty in getting online and offline.

[0003] First, existing line patrol robots usually have a large weight and volume, which makes them difficult to operate in a small or complex environment, and also makes them difficult to carry when used outdoors; at the same time, large-volume line patrol robots also have the problem of difficulty in getting on and off the line. Secondly, existing line patrol robots often use a single-wheel drive structure to streamline the structure to reduce the volume. However, simply reducing the drive wheel will make the line patrol robot less stable in complex terrain or high-altitude environments, prone to slipping, derailment and other problems, affecting the inspection effect and equipment safety. When facing complex terrain, it is often unable to do its best, making it difficult to complete the inspection task smoothly; while the line patrol robot with a dual-wheel drive system improves the robot's operating stability, it also significantly increases the weight of the robot. This makes it more difficult for the line patrol robot to operate in high altitude or complex environments, increases energy consumption, and limits the robot's application scenarios and efficiency.

[0004] Therefore, there is an urgent need for a single-wheel horizontal drive line-hanging mobile robot to solve the problem of poor stability of the line-patrolling robot with a single-wheel drive structure. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a single-wheel horizontally driven line-hanging mobile robot to solve the problem of poor stability of the line-patrolling robot with a single-wheel drive structure.

[0006] To achieve the above object, the present invention adopts the following technical solutions: A single-wheel horizontal drive hanging line mobile robot, characterized in that it includes a frame, a control box, a walking mechanism and a clamping mechanism, the frame includes a lower fixed plate, a side connecting plate and an upper mounting plate, the lower end of the lower fixed plate is used to connect and fix the control box, the upper end of the lower fixed plate is connected to the upper mounting plate through the side connecting plate, the front end of the upper mounting plate is provided with a walking mechanism, the walking wheels of the walking mechanism are located below the upper mounting plate, the clamping mechanism is installed at the rear end of the upper mounting plate, the clamping mechanism is used to push the line to be inspected located below the mounting plate and fit it to the end face of the walking wheel, or release the push on the line to be inspected.

[0007] To optimize the above technical solutions, the specific measures taken also include: Furthermore, a movable groove is provided in the middle of the rear end of the upper mounting plate, and the clamping mechanism includes a guide shaft, a compression spring, a connecting protrusion and a clamping spring seat. The upper end surfaces on the left and right sides of the movable groove of the upper mounting plate are respectively installed with a clamping spring seat, and the clamping spring seat is provided with a guide shaft arranged in the front-back direction, and a connecting protrusion is slidably arranged on the guide shafts on both sides. An extension plate is provided in the middle of the connecting protrusion, and the extension plate of the connecting protrusion is inserted into the movable groove and extends to the bottom of the upper mounting plate. The guide shaft is provided with a compression spring for driving the connecting protrusion to move forward along the guide shaft, and the front end of the extension plate can push the line to be inspected below the mounting plate and fit it to the end face of the walking wheel.

[0008] Furthermore, the clamping mechanism also includes several first clamping wheels and a clamping wheel base. The front end of the extension plate is equipped with a clamping wheel base. Several vertically arranged first clamping wheels are rotatably arranged on the clamping wheel base. The first clamping wheels are located at the front end surface of the clamping wheel base.

[0009] Furthermore, the connecting protrusion is slidably connected to the guide shaft via a bushing.

[0010] Furthermore, a second clamping wheel is rotatably provided on the left and right sides of the upper mounting plate, respectively, and the second clamping wheel is used to fit on the upper end of the line to be inspected.

[0011] Furthermore, the brake mechanism includes a brake pad, an output rod and an electric push rod. A fixed plate is provided on the lower end surface of the upper mounting plate and located on the side of the walking mechanism. The electric push rod is installed on the fixed plate. The output end of the output rod of the electric push rod is installed with a brake pad. The electric push rod is used to drive the brake pad to move closer to or away from the side wall of the walking wheel.

[0012] Furthermore, the end surface of the brake pad facing the running wheel is a curved surface.

[0013] Furthermore, a mounting hole is provided on the upper mounting plate, and the walking mechanism also includes a direct drive motor and a support shaft. The direct drive motor is installed on the upper mounting plate through a motor seat, and the output end of the direct drive motor is connected to the support shaft. The support shaft extends from the mounting hole to the bottom of the upper mounting plate and is connected to the wheel hub of the walking wheel.

[0014] Furthermore, the travel wheel is provided with a circle of arc-shaped grooves for fitting the line to be inspected.

[0015] Furthermore, a detection mechanism is provided in the control box, and the detection mechanism includes an RTK and a power supply for measurement.

[0016] The beneficial effects of the present invention are: The present invention utilizes the walking wheels of the walking mechanism through the arrangement of the frame and the walking mechanism, which not only ensures the movement effect of the robot, but also simplifies the structure of the robot, and has the advantages of low weight, good portability and low energy consumption; at the same time, through the structural arrangement between the walking mechanism, the upper mounting plate and the clamping mechanism, an N-shaped structure is formed, so that the robot can be stably clamped and connected with the line to be inspected through the N-shaped structure, that is, the line to be inspected is stably clamped and connected through the walking wheels of the walking mechanism, the lower end surface of the upper mounting plate and the front end surface of the clamping mechanism, thereby increasing the contact area with the line to be inspected and improving the stability of the robot during operation; through the arrangement of the clamping mechanism, the robot and the line to be inspected can be conveniently clamped or loosened, so that the installation and disassembly of the robot when it is online and offline can be conveniently realized without the need for multiple people, thereby improving work efficiency and reducing safety risks.

[0017] The present invention has the advantages of good stability and low weight, which not only makes it more convenient for the line patrol robot to go online and offline, but also greatly improves the stability during operation. At the same time, it also has better portability and better energy consumption. The device of the present invention can reduce the weight by 20%-30% compared with the traditional two-wheel drive line patrol robot through the design of a single wheel; through the design of the clamping mechanism, it has better walking stability than the traditional single-wheel drive line patrol robot, and can realize the easy online and offline operation of the robot by a single person, which improves the convenience of operation; the robot has the advantages of light weight, strong portability, fast moving speed, low cost and simple control, and strong practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the overall structure of a single-wheel horizontal drive wire-hanging mobile robot proposed by the present invention; Figure 2 Schematic diagram of the patrol state of a single-wheel horizontal drive line-hanging mobile robot proposed in the present invention Figure 1 ; Figure 3Schematic diagram of the patrol state of a single-wheel horizontal drive line-hanging mobile robot proposed in the present invention Figure 2 ; Figure 4 This is a schematic structural diagram of a frame of a single-wheel horizontal drive wire-hanging mobile robot proposed in the present invention; Figure 5 This is a structural schematic diagram of a brake mechanism of a single-wheel horizontal drive wire-hanging mobile robot proposed in the present invention; Figure 6 The present invention is a schematic structural diagram of a clamping mechanism of a single-wheel horizontally driven wire-hanging mobile robot.

[0019] Figure markings: 10-frame; 20-control box; 30-traveling mechanism; 40-brake mechanism; 50-clamping mechanism; 101-lower fixed plate; 102-side connecting plate; 103-upper mounting plate; 104-second clamping wheel; 401-brake pad; 402-output rod; 403-electric push rod; 501-first clamping wheel; 502-guide shaft; 503-bushing; 504-compression spring; 505-clamping wheel base; 506-connecting convex plate; 507-clamping spring seat. DETAILED DESCRIPTION

[0020] The present invention will now be described in further detail with reference to the accompanying drawings.

[0021] As attached Figure 1 and attached Figure 4 As shown, a single-wheel horizontal drive hanging line mobile robot according to an embodiment of the present invention includes a frame 10, a control box 20, a walking mechanism 30 and a clamping mechanism 50. The frame 10 includes a lower fixed plate 101, a side connecting plate 102 and an upper mounting plate 103. The lower end of the lower fixed plate 101 is used to connect and fix the control box 20, and the upper end of the lower fixed plate 101 is connected to the upper mounting plate 103 through the side connecting plate 102. The front end of the upper mounting plate 103 is provided with a walking mechanism 30, and the walking wheels of the walking mechanism 30 are located below the upper mounting plate 103. The clamping mechanism 50 is installed at the rear end of the upper mounting plate 103. The clamping mechanism 50 is used to push the line to be inspected located below the mounting plate 103 and fit it to the end face of the walking wheel of the walking mechanism 30, or release the push on the line to be inspected. The walking wheel can rotate relative to the frame 10, and is used to drive the robot as a whole to move along the line to be inspected.

[0022] The present invention, through the arrangement of the frame 10 and the walking mechanism 30, utilizes the walking wheels of the walking mechanism 30, which not only ensures the movement effect of the robot, but also simplifies the structure of the robot, and has the advantages of low weight, good portability, and low energy consumption; at the same time, through the structural arrangement between the walking mechanism 30, the upper mounting plate 103 and the clamping mechanism 50, an n-shaped structure is formed, so that the robot can be stably clamped and connected with the line to be inspected through the n-shaped structure, that is, the line to be inspected is stably clamped and connected through the walking wheels of the walking mechanism 30, the lower end surface of the upper mounting plate 103 and the front end surface of the clamping mechanism 50, thereby increasing the contact area with the line to be inspected and improving the stability of the robot during operation; through the arrangement of the clamping mechanism 50, the robot and the line to be inspected can be conveniently clamped or loosened, so that the installation and disassembly of the robot when it is online and offline can be conveniently realized, without the need for multiple people, thereby improving work efficiency and reducing safety risks.

[0023] In this embodiment, the connection position relationship between the side connecting plate 102 and the lower fixed plate 101 can be adjusted and fixed as needed, and can be adjusted and fixed according to the connection position between the lower fixed plate 101 and the control box 20 and the gravity distribution of the control box 20 to ensure that the line can be stably set in the N-shaped structure formed by the walking mechanism 30, the upper mounting plate 103 and the clamping mechanism 50 during use, thereby ensuring the stability of the connection between the robot and the line.

[0024] As attached Figure 6As shown, in another specific embodiment, a movable groove is provided in the middle of the rear end of the upper mounting plate 103, and the clamping mechanism 50 includes a guide shaft 502, a compression spring 504, a connecting protrusion 506 and a clamping spring seat 507. A clamping spring seat 507 is respectively installed on the upper end faces on the left and right sides of the movable groove of the upper mounting plate 103, and a guide shaft 502 arranged in the front-to-back direction is provided on the clamping spring seat 507. A connecting protrusion 506 is slidably provided on the guide shafts 502 on both sides. An extension plate extending downward is provided in the middle of the connecting protrusion 506, and the extension plate of the connecting protrusion 506 is inserted into the movable groove and extends to the bottom of the upper mounting plate 103. The guide shafts 502 are sleeved with compression springs 504 for driving the connecting protrusion 506 to move forward along the guide shafts 502. The front end of the extension plate can push the line to be inspected below the mounting plate 103 and fit it to the end face of the walking wheel. Thus, by setting the clamping mechanism 50, when in use, the compression spring 504 is used to always provide a forward thrust to the connecting convex plate 506, so that the extension plate of the connecting convex plate 506 can push the line to be inspected and fit it to the end face of the running wheel, and clamp the line to be inspected together with the running wheel, so as to realize the convenient disassembly and assembly of the robot on and off the line, and at the same time, ensure the reliability of the connection between the robot and the line. In this embodiment, the left and right sides of the connecting convex plate 506 are respectively slidably connected to the guide shaft 502 on one side, and the extension plate in the middle of the connecting convex plate 506 extends from the moving groove to the bottom of the upper mounting plate 103. In this embodiment, two clamping spring seats 507 are fixed to the upper mounting plate 103 of the frame 10 by screws, and the compression spring 504 is sleeved on the guide shaft 502. For the compression spring 504, the guide shaft 502 plays a guiding role, and the compression spring 504 can be arranged between the clamping spring seat 507 and the connecting convex plate 506.

[0025] Wherein, based on the above embodiment, the clamping mechanism 50 also includes several first clamping wheels 501 and a clamping wheel base 505, the front end of the extension plate is installed with a clamping wheel base 505, and several vertically arranged first clamping wheels 501 are rotatably arranged on the clamping wheel base 505, and the first clamping wheel 501 is located at the front end surface of the clamping wheel base 505, and is used to push and fit the line to be inspected to the end surface of the running wheel. In this way, when in use, the clamping wheel base 505 and the first clamping wheel 501 thereon can communicate with each other, and cooperate with the running wheel to adjustably clamp the line to be inspected; at the same time, by using the rolling setting of the first clamping wheel 501, when the robot is driven by the running wheel to move along the line, the friction is reduced, thereby ensuring the use effect of the robot. In this embodiment, two first clamping wheels 501 can be provided, which are rotatably installed on the clamping wheel base 505 through a pin shaft.

[0026] In the above embodiment, the connection protrusion 506 is slidably connected to the guide shaft 502 through the bushing 503. Thus, the reliability of the sliding connection is guaranteed by the arrangement of the bushing 503.

[0027] In another specific embodiment, a second clamping wheel 104 is rotatably provided on the left and right sides of the upper mounting plate 103, and the second clamping wheel 104 is used to fit the upper end of the line to be inspected. The second clamping wheel 104 can rotate in the direction of travel of the line to be inspected, and the second clamping wheel 104 is arranged on the first clamping wheel 501 and other structures staggered, so as not to interfere with the first clamping wheel 501. In this way, by setting the second clamping wheel 104 on the upper mounting plate 103, when the robot is driven by the walking wheel to move along the line, the friction between the line and the robot is reduced, thereby ensuring the use effect of the robot.

[0028] As attached Figure 5 As shown, in another specific embodiment, the brake mechanism 40 also includes a brake pad 401, an output rod 402 and an electric push rod 403. A fixing plate is provided on the lower end surface of the upper mounting plate 103 and located on the side of the walking mechanism 30. The electric push rod 403 is installed on the fixing plate. The output end of the output rod 402 of the electric push rod 403 is installed with a brake pad 401. The electric push rod 403 is used to drive the brake pad 401 to move close to or away from the side wall of the walking wheel. In this way, when the walking mechanism 30 drives the robot to move to the position required for detection, the motor of the walking mechanism 30 can be stopped, and the brake mechanism 40 can be further actively used for braking, that is, the electric push rod 403 is used to push the brake pad 401 close to the walking wheel for braking, so that the walking wheel can quickly stop at the specified position, and at the same time, the robot can be kept in a braking state after stopping.

[0029] Wherein, based on the above embodiment, the end surface of the brake pad 401 facing the running wheel is a curved surface, thereby increasing the contact area between the brake pad 401 and the running wheel, thereby ensuring the braking effect.

[0030] In another specific embodiment, a mounting hole is provided on the upper mounting plate 103, and the walking mechanism 30 further includes a direct drive motor and a support shaft, the direct drive motor is mounted on the upper mounting plate 103 through a motor seat, the output end of the direct drive motor is connected to the support shaft, the support shaft extends from the mounting hole to the bottom of the upper mounting plate 103, and is connected to the wheel hub of the walking wheel. In this way, when in use, the walking wheel can be set below the upper mounting plate 103 through the support shaft, and the rotation drive of the walking wheel is realized through the output end of the direct drive motor.

[0031] In another specific embodiment, the running wheel is provided with a circle of arc-shaped grooves for fitting the line to be inspected. Thus, when in use, the arc-shaped grooves can be used to make the running wheel further fit the line to be inspected, thereby further increasing the friction between the two and ensuring the driving effect. The arc-shaped grooves can cooperate with the first clamping wheel 501 and the second clamping wheel 104 to clamp the line together, that is, they are opened near the first clamping wheel 501 and the second clamping wheel 104.

[0032] In another specific embodiment, a detection mechanism is provided in the control box 20, and the detection mechanism includes an RTK and a power supply for measurement. In this way, the control box 20 can be used to store structures such as the RTK and power supply required for detection, or to store other control structures. The control box 20 can be provided with an openable and closable opening to facilitate the placement of the required structures.

[0033] A specific embodiment of the present invention includes a frame 10, a control box 20, a walking mechanism 30, a braking mechanism 40 and a clamping mechanism 50; the frame 10 is arranged above the control box 20 and is fixedly connected to the control box 20 by bolts, the walking mechanism 30 is arranged on one side of the frame 10, the walking mechanism 30 includes a walking wheel, the walking wheel can rotate relative to the frame 10, and the walking wheel can rotate along the line direction to realize driving the robot to move along the line; an accommodating space adapted to the line / pipeline to be inspected is arranged between the walking mechanism 30, the frame 10 and the control box 20, and the line / pipeline to be inspected is distributed in the accommodating space; the clamping mechanism 50 is connected to the control box 20, the clamping mechanism 50 generates pressure on the line / pipeline to be inspected, and cooperates with the robot's own gravity to make it fully contact with the walking wheel and the first clamping wheel 501 of the clamping mechanism 50, the walking wheel rotates relative to the line / pipeline to be inspected, and drives the robot as a whole to move along the line / pipeline to be inspected.

[0034] The walking mechanism 30 includes a direct-drive motor, walking wheels, and a support shaft. The direct-drive motor is installed on a motor seat and fixed to the upper end of the frame 10 by bolts. The walking wheels can be connected to the output shaft of the direct-drive motor by bolts. The output shaft is located at the mounting hole of the upper mounting plate 103 of the frame 10, and a bushing is provided between the mounting hole to increase structural stability and reliability.

[0035] The brake mechanism 40 includes a brake pad 401, an output rod 402 and an electric push rod 403. The electric push rod 403 is connected to the frame 10 by bolts.

[0036] As attached Figure 2 and attached Figure 3 As shown, the working method of the robot of the present invention is as follows: when the robot is ready to work, the operator moves the connecting convex plate 506 backward so that the spacing between the first clamping wheel 501 and the running wheel is sufficient to accommodate the circuit to be tested, and suspends the robot on the circuit, and then loosens the connecting convex plate 506, so that the circuit is placed from the lower opening of the n-type structure and is respectively tightly attached to the running wheel, the first clamping wheel 501 and the second clamping wheel 104. At this time, the clamping force is provided by the compression spring 504 and the robot's own weight.

[0037] When the robot is working, the clamping mechanism 50 generates pressure on the inspection line, and together with the robot's own gravity, the clamping mechanism 50 is fully in contact with the running wheel and the clamping wheel 102. The running wheel rotates relative to the inspection line, driving the robot to move along the inspection line. When it is necessary to stop to work, the direct drive motor of the running mechanism 30 stops rotating, and the brake mechanism 40 is driven to brake actively.

[0038] Traditional line patrol robots have great difficulties in the process of going online and offline. Due to the complex structure of the equipment, the installation and disassembly of the robot usually takes a lot of time and effort, and requires the coordinated operation of multiple people. This not only increases labor costs, but also poses certain safety hazards, especially at high altitudes or in harsh environments, where the safety risks of operators are high.

[0039] When the device of the present invention is in use, the line / pipeline to be inspected is located in an n-shaped space formed by the frame 10, the walking mechanism 30, and the clamping mechanism 50, so that the frame 10, the clamping mechanism 50, and the walking mechanism 30 are in full contact with the line / pipeline to be inspected. This clamping scheme makes the present invention have the advantages of good stability and low weight, which not only makes it more convenient for the line patrol robot to go online and offline, but also greatly improves the stability during operation. At the same time, it also has better portability and better energy consumption. The device of the present invention can reduce weight by 20%-30% compared with the traditional two-wheel drive line patrol robot through the design of a single wheel; through the design of the clamping mechanism 50, compared with the traditional single-wheel drive line patrol robot, it has better walking stability, and can realize the easy online and offline operation of the robot by a single person, which improves the convenience of operation; the robot has the advantages of light weight, strong portability, fast moving speed, low cost and simple control, and strong practicality.

[0040] It should be noted that the terms such as "upper", "lower", "left", "right", "front", "back", etc. cited in the invention are only for the convenience of description and are not used to limit the scope of implementation of the present invention. Changes or adjustments in their relative relationships should be regarded as the scope of implementation of the present invention without substantially changing the technical content.

[0041] The above are only preferred embodiments 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 be regarded as the protection scope of the present invention.

Claims

1. A single-wheel horizontal drive wire-hanging mobile robot, characterized in that: The invention comprises a frame (10), a control box (20), a walking mechanism (30) and a clamping mechanism (50); the frame (10) comprises a lower fixing plate (101), a side connecting plate (102) and an upper mounting plate (103); the lower end of the lower fixing plate (101) is used to connect and fix the control box (20); the upper end of the lower fixing plate (101) is connected to the upper mounting plate (103) via the side connecting plate (102); the front end of the upper mounting plate (103) is provided with a walking mechanism (30); the walking wheels of the walking mechanism (30) are located below the upper mounting plate (103); the clamping mechanism (50) is installed at the rear end of the upper mounting plate (103); the clamping mechanism (50) is used to push the line to be inspected located below the mounting plate (103) to fit it to the end surface of the walking wheel, or to release the pushing of the line to be inspected.

2. The single-wheel horizontal drive wire-hanging mobile robot according to claim 1, characterized in that: A moving groove is provided in the middle of the rear end of the upper mounting plate (103), and the clamping mechanism (50) comprises a guide shaft (502), a compression spring (504), a connecting convex plate (506) and a clamping spring seat (507). A clamping spring seat (507) is respectively installed on the upper end surfaces on the left and right sides of the moving groove of the upper mounting plate (103), and each of the clamping spring seats (507) is provided with a guide shaft (502) arranged in the front-rear direction, and the guide shafts (502) on both sides slide together. A connecting protrusion (506) is provided, and an extension plate is provided in the middle of the connecting protrusion (506). The extension plate of the connecting protrusion (506) is inserted into the movable groove and extends to the bottom of the upper mounting plate (103). The guide shaft (502) is provided with a compression spring (504) for driving the connecting protrusion (506) to move forward along the guide shaft (502). The front end of the extension plate can push the line to be inspected below the mounting plate (103) and fit it to the end face of the walking wheel.

3. A single-wheel horizontal drive wire-hanging mobile robot according to claim 2, characterized in that: The clamping mechanism (50) further comprises a plurality of first clamping wheels (501) and a clamping wheel base (505); the front end of the extension plate is provided with a clamping wheel base (505); a plurality of vertically arranged first clamping wheels (501) are rotatably arranged on the clamping wheel base (505); the first clamping wheels (501) are located at the front end surface of the clamping wheel base (505).

4. The single-wheel horizontal drive wire-hanging mobile robot according to claim 2, characterized in that: The connecting protruding plate (506) is slidably connected to the guide shaft (502) via a bushing (503).

5. The single-wheel horizontal drive wire-hanging mobile robot according to claim 1, characterized in that: A second clamping wheel (104) is rotatably provided on the left and right sides of the upper mounting plate (103), respectively, and the second clamping wheel (104) is used to fit on the upper end of the line to be inspected.

6. The single-wheel horizontal drive wire-hanging mobile robot according to claim 1, characterized in that: The invention also includes a brake mechanism (40) including a brake pad (401), an output rod (402) and an electric push rod (403); a fixing plate is provided on the lower end surface of the upper mounting plate (103) and located on the side of the walking mechanism (30); the electric push rod (403) is installed on the fixing plate; the brake pad (401) is installed on the output end of the output rod (402) of the electric push rod (403); the electric push rod (403) is used to drive the brake pad (401) to move closer to or away from the side wall of the walking wheel.

7. The single-wheel horizontal drive wire-hanging mobile robot according to claim 6, characterized in that: The end surface of the brake pad (401) facing the running wheel is a curved surface.

8. The single-wheel horizontal drive wire-hanging mobile robot according to claim 1, characterized in that: The upper mounting plate (103) is provided with a mounting hole, and the walking mechanism (30) further comprises a direct drive motor and a support shaft, the direct drive motor is mounted on the upper mounting plate (103) via a motor seat, the output end of the direct drive motor is connected to the support shaft, and the support shaft extends from the mounting hole to the bottom of the upper mounting plate (103) and is connected to the wheel hub of the walking wheel.

9. The single-wheel horizontal drive wire-hanging mobile robot according to claim 1, characterized in that: The walking wheel is provided with a circle of arc-shaped grooves for fitting the line to be inspected.

10. The single-wheel horizontal drive wire-hanging mobile robot according to claim 1, characterized in that: The control box (20) is provided with a detection mechanism, and the detection mechanism comprises an RTK and a power supply for measurement.

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