Power transmission line inspection robot based on unmanned aerial vehicle platform and delivery method

Abstract

The invention discloses a power transmission line inspection robot based on an unmanned aerial vehicle platform and a delivery method, and belongs to the technical field of circuit maintenance. The system mainly comprises an unmanned aerial vehicle; the inspection device comprises a fixing frame, a conveying assembly, a driving assembly, an inspection assembly and a guiding assembly, the guiding assembly comprises two sets of guiding frames, and the two sets of guiding frames are oppositely arranged to form an inclined channel; the bottom plates are mounted at the ends, away from the fixing frame, of the fixing plates; the rotating rods are rotationally installed on the bottom plate, rotating plates are installed on the rotating rods, and torsional springs are arranged between the rotating rods and the bottom plate; and the two groups of baffles are mounted on the rotating plate. According to the power transmission line inspection robot based on the unmanned aerial vehicle platform and the delivery method, through the arrangement of the guide assembly, when a worker faces sudden strong wind weather, the power transmission line can be gathered and fixed within a certain range, the vibration amplitude of the power transmission line is reduced, and the effect of rapidly aligning the robot to the line is achieved.

Description

Technical Field

[0001] The present application relates to the field of circuit maintenance technology, and specifically to a power transmission line inspection robot and delivery method based on an unmanned aerial vehicle platform. Background Art

[0002] Transmission lines refer to power lines that transmit electric energy from power plants (including hydropower stations, thermal power stations, nuclear power stations, wind farms, and photovoltaic power stations, etc.) to power load centers and connect power systems. Transmission lines have various structures and types, and can be divided into overhead transmission lines and cable lines according to their structural forms.

[0003] Overhead transmission lines are exposed to the natural environment for a long time and are easily affected by various factors, so they need to be inspected regularly;

[0004] At present, when inspecting overhead power transmission lines, the staff uses an unmanned vehicle to grab the inspection robot and use a drone to input it from the side of the transmission line. Then, the walking device on the inspection robot is aligned with the transmission line, the inspection robot is released, and the drone returns to the ground. The staff can then control the inspection robot to perform inspection operations on the transmission line.

[0005] However, in the prior art, when aligning the inspection robot with the transmission line, the alignment is usually performed by a camera and visual observation of the staff. This makes it more difficult for the staff to align the inspection robot with the transmission line when the staff is suddenly affected by external forces. For example, in windy weather, the transmission line may be affected by the wind and vibrate to a large extent, which makes it more difficult for the staff to align the inspection robot with the transmission line.

[0006] Therefore, it is necessary to provide a transmission line inspection robot and delivery method based on a UAV platform to solve the above problems.

[0007] It should be noted that the above information disclosed in this background technology section is only for understanding the background technology of the present application concept, and therefore, it may contain information that does not constitute the prior art. Summary of the invention

[0008] Based on the above-mentioned problems existing in the prior art, the problem to be solved by the present application is: to provide a power transmission line inspection robot and a delivery method based on a UAV platform, so as to achieve the effect of quickly aligning the robot with the line.

[0009] The technical solution adopted by the present application to solve its technical problems is: a power transmission line inspection robot and a delivery method based on a UAV platform, including a UAV; a fixed frame, the fixed frame is installed on the UAV; a transport component, the transport component is suitable for grabbing the robot, the transport component is installed on the fixed frame; a drive component, the drive component is suitable for walking on the power transmission line, the drive component is located below the fixed frame; an inspection component, the inspection component is suitable for inspection operations of the power transmission line, the inspection component is arranged on the drive component; a guide component, the guide component is suitable for reducing the vibration of the power transmission line, the guide component is arranged on the fixed frame, and the guide component includes: two groups of guide frames, the guide frames are installed on one side of the fixed frame, the two groups of guide frames are arranged opposite to each other to form an inclined channel; two groups of fixed seats, the fixed seats are installed on one side of the fixed frame; two groups of base plates, the base plates are installed on one end of the fixed plate away from the fixed frame; two groups of rotating rods, the rotating rods are rotatably installed on the base plate, a rotating plate is installed on the rotating rod, and a torsion spring is arranged between the rotating rod and the base plate; two groups of baffles, the baffles are installed on the rotating plate.

[0010] Furthermore, the transport assembly includes a drive frame installed on a fixed frame, two sets of pulleys are rotatably installed on the drive frame, belts are commonly sleeved on the two sets of pulleys, a servo motor is installed on one side of the drive frame, and the output end of the servo motor is connected to one of the sets of pulleys.

[0011] Furthermore, a clamping block is arranged on the belt, a slide rail is installed on the driving frame, and the clamping block is slidably arranged on the slide rail.

[0012] Furthermore, a moving block is installed on the clamping block, a hook is provided on the moving block, a connecting plate is provided below the hook, clamping parts are provided at both ends of the connecting plate, and a cross frame is installed on the connecting plate.

[0013] Furthermore, it is characterized in that: the driving assembly includes a support frame arranged below the fixed frame, an electrical box is installed below the support frame, the support frame has two groups of vertical parts, one end of the two groups of vertical parts are each installed with a fixed block, a stepper motor is installed inside the fixed block, and a walking wheel is installed at the output end of the stepper motor.

[0014] Furthermore, both sets of vertical parts are provided with clamping assemblies, which include a cylinder hinged on the vertical part, a connecting block hinged on the output end of the cylinder, the connecting block is rotatably mounted on the vertical part, a groove is provided on the vertical part, a mounting block is mounted on the end of the connecting block away from the cylinder, a roller is rotatably mounted on the mounting block, and the roller is located below the walking wheel.

[0015] Furthermore, the inspection component includes a protrusion installed on the support frame, a first motor is installed on the protrusion, a first rotating arm is installed at the output end of the first motor, and the first rotating arm is rotatably installed at one end of the protrusion away from the support frame.

[0016] Furthermore, a second motor is installed at one end of the first rotating arm away from the first motor, a second rotating arm is installed at an output end of the second motor, and the second rotating arm is rotatably installed on the first rotating arm.

[0017] Furthermore, a bearing plate is installed at one end of the second rotating arm away from the second motor, and an inspection robot arm is installed on the bearing plate.

[0018] Furthermore, the delivery method of the transmission line inspection robot based on the UAV platform specifically includes:

[0019] Step 1: The staff uses the remote control to control the transport component to grab the inspection component;

[0020] Step 2: The remote-controlled drone aligns the inspection component from the side of the transmission line through the guide component;

[0021] Step 3: The remote control transport component transports the inspection component to the transmission line;

[0022] Step 4: The remote control transport component releases the inspection component and controls the drone to return;

[0023] Step 5, controlling the inspection component to move on the transmission line and performing inspection through the inspection component;

[0024] Step 6: After the inspection is completed, the drone is remotely controlled to fly above the transmission line and grab the inspection component through the transport component;

[0025] Step seven, remote control the drone back to the ground.

[0026] The beneficial effect of the present application is that the transmission line inspection robot and delivery method based on the drone platform provided by the present application, through the setting of the guide component, enables the staff to gather the transmission lines and fix them within a certain range when facing sudden strong winds, so as to reduce the amplitude of their vibration, thereby achieving the effect of quickly aligning the robot with the line.

[0027] In addition to the above-described purposes, features and advantages, the present application also has other purposes, features and advantages. The present application will be further described in detail with reference to the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The drawings in the specification, which constitute a part of the present application, are used to provide further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0029] In the attached picture:

[0030] Figure 1 This is an overall schematic diagram of the power transmission line inspection robot and delivery method based on the UAV platform in this application;

[0031] Figure 2 for Figure 1 The enlarged schematic diagram of point A in the middle;

[0032] Figure 3 for Figure 1 Another perspective diagram of the whole;

[0033] Figure 4 for Figure 3 The enlarged schematic diagram of point B in the middle;

[0034] Figure 5 for Figure 1 The structural diagram of the middle part as a whole;

[0035] Figure 6 for Figure 5 The enlarged schematic diagram of the center C;

[0036] Figure 7 for Figure 5 The overall schematic diagram from another perspective;

[0037] Figure 8 for Figure 7 The enlarged schematic diagram of point D in the middle;

[0038] Among them, the reference numerals in the figure are:

[0039] 1. UAV; 101. Fixed frame;

[0040] 2. Guide assembly; 21. Guide frame; 22. Inclined channel; 23. Fixed seat; 24. Bottom plate; 25. Torsion spring; 26. Rotating rod; 27. Rotating plate; 28. Baffle;

[0041] 3. Drive assembly; 31. Electric box; 32. Support frame; 33. Cylinder; 34. Connecting block; 35. Groove; 36. Fixing block; 37. Travel wheel; 38. Mounting block; 39. Roller;

[0042] 4. Transport assembly; 41. Drive frame; 42. Moving block; 43. Hook; 44. Horizontal frame; 45. Connecting plate; 46. Clamping part; 47. Belt; 48. Slide rail;

[0043] 5. Inspection component; 51. First rotating arm; 52. First motor; 53. Second motor; 54. Carrying plate; 55. Mechanical arm;

[0044] 6. Obstacle bypassing assembly; 61. Base; 62. Block; 63. Straight rod; 64. First rotating block; 65. Touch plate; 66. Second rotating block; 67. Sliding rod; 68. First inclined block; 69. Second inclined block; 610. Contact switch. DETAILED DESCRIPTION

[0045] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0046] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0047] like Figure 1 As shown, the present application provides a transmission line inspection robot based on a drone platform, which is used for inspection and replacement of hardware on the transmission line, specifically:

[0048] The drone 1 includes a camera for observing surrounding conditions, so that the staff can observe the conditions at a high place through the camera. Meanwhile, a fixing frame 101 for supporting the drone 1 is arranged on the drone 1. The fixing frame 101 is welded with multiple sets of steel frames. Usually, the fixing frame 101 is placed on a flat ground.

[0049] like Figure 4 As shown, a transport component 4 is provided on the fixed frame 101, and the transport component 4 is used to grab the inspection robot;

[0050] like Figure 3-Figure 4 As shown, the transport assembly 4 includes a driving frame 41 fixedly mounted on the fixed frame 101, and two sets of pulleys (not shown in the figure) are rotatably mounted on the driving frame 41, and a belt 47 is commonly sleeved on the two sets of pulleys. A servo motor (not shown in the figure) is installed on one side of the driving frame 41, and the output end of the servo motor is connected to one set of pulleys, so that the belt 47 is driven to rotate through the pulleys under the drive of the servo motor;

[0051] At the same time, a clamping block (not shown in the figure) is arranged on the belt 47, and a slide rail 48 is fixedly installed on the driving frame 41, and the clamping block is slidably arranged on the slide rail 48, so that when the belt 47 rotates, the clamping block can move on the slide rail 48;

[0052] Continue to refer Figure 4A moving block 42 is fixedly mounted on the clamping block, and a hook 43 is arranged on the moving block 42. The hook 43 is a prior art, such as the patent application publication number CN108358064A. The specific structure and principle are not described in detail here, so that when the clamping block moves, the moving block 42 drives the hook 43 to move, and the hook 43 drives the inspection robot to perform lifting operations;

[0053] A connecting plate 45 is provided below the hook 43, and clamping parts 46 are provided at both ends of the connecting plate 45 to clamp the inspection robot. The clamping parts 46 are existing pneumatic fingers, and the specific structure and principle are not described in detail here. At the same time, a cross frame 44 is fixedly installed on the connecting plate 45, and the cross frame 44 is trapezoidal, so that it can be hoisted and lifted by the hook 43, thereby driving the connecting plate 45 to be lifted and lifted;

[0054] like Figure 1 As shown, a driving assembly 3 is provided below the fixing frame 101, and the driving assembly 3 is used to perform walking operation on the power transmission line;

[0055] like Figure 1 and Figure 5-Figure 6 As shown, the driving assembly 3 includes a support frame 32 arranged below the fixed frame 101. The support frame 32 is the support part of the inspection robot, which is mainly welded by multiple groups of steel plates. At the same time, an electric box 31 is fixedly installed below the support frame 32 to provide power for subsequent inspection equipment;

[0056] It should be noted that the support frame 32 has two groups of vertical parts, so that the two groups of clamping parts 46 on the connecting plate 45 can clamp it, and one end of the two groups of vertical parts is fixedly installed with a fixing block 36, and a stepping motor (not shown in the figure) is installed inside the fixing block 36, and a walking wheel 37 is fixedly installed at the output end of the stepping motor. When the two groups of walking wheels 37 are located on the transmission line, the walking wheels 37 rotate under the drive of the stepping motor, thereby driving the support frame 32 to move along the transmission line;

[0057] Continue to refer Figure 6 In order to maintain the stability of the running wheel 37 when it moves, a clamping assembly is provided on both sets of vertical parts, and the clamping assembly includes a cylinder 33 hinged on the vertical part, and a connecting block 34 is hinged at the output end of the cylinder 33. The connecting block 34 is rotatably mounted on the vertical part, so that the connecting block 34 can rotate on the vertical part under the drive of the cylinder 33, and a groove 35 suitable for the rotation of the connecting block 34 is opened on the vertical part;

[0058] At the same time, a mounting block 38 is fixedly installed at one end of the connecting block 34 away from the cylinder 33, and a roller 39 is rotatably installed on the mounting block 38. The roller 39 is located below the running wheel 37, so that the connecting block 34 can rotate on the vertical portion and drive the roller 39 to rotate synchronously, thereby approaching or moving away from the running wheel 37, and forming a clamping area for clamping the power transmission line when approaching the running wheel 37, so as to ensure the stability of the running wheel 37 when walking. In the initial state, the cylinder 33 is in a retracted state, at which time the roller 39 is away from the running wheel 37, and thus there is a certain gap between the roller 39 and the running wheel 37. For the convenience of explanation, it is defined as a working gap, so that the power transmission line can enter the gap, and when the power transmission line enters, the cylinder 33 extends to drive the roller 39 close to the running wheel 37 to clamp the power transmission line.

[0059] like Figure 5 As shown, in order to perform inspection operations on the power transmission line, an inspection component 5 is provided on the support frame 32;

[0060] The inspection component 5 includes a protrusion (not shown in the figure) fixedly mounted on the support frame 32, and a first motor 52 is fixedly mounted on the protrusion. A first rotating arm 51 is fixedly mounted on the output end of the first motor 52. The first rotating arm 51 is rotatably mounted on an end of the protrusion away from the support frame 32, so that the first rotating arm 51 can rotate along the rotation mounting point between the first motor 52 and the protrusion;

[0061] At the same time, a second motor 53 is fixedly installed at one end of the first rotating arm 51 away from the first motor 52, and a second rotating arm is fixedly installed at the output end of the second motor 53. The second rotating arm is rotatably installed on the first rotating arm 51, so that the second rotating arm can rotate along the rotation point between it and the first rotating arm 51 under the drive of the second motor 53;

[0062] Continue to refer Figure 5 , and a bearing plate 54 is fixedly mounted on one end of the second rotating arm away from the second motor 53, and an inspection robot arm 55 is fixedly mounted on the bearing plate 54, so that the position of the inspection robot arm 55 at the power transmission line can be adjusted by the first rotating arm 51 and the second rotating arm to perform inspection operations on it, and it can be disassembled and assembled when encountering damaged hardware. It should be noted that the detection and disassembly operation principle of the inspection robot arm 55 is the existing technology, such as the patents with authorization announcement number CN208522359U and authorization announcement number CN111755982B, and the specific structure and principle will not be described in detail here;

[0063] To sum up, when inspecting the transmission line, the driving component 3 is clamped by the transportation device on the fixed frame 101 to restrict it, thereby synchronously restricting the inspection component 5, and then the drone 1 drives the transportation device to move through the fixed frame 101, thereby driving the driving component 3 to move, and then driving the inspection component 5 to move, and then the drone 1 aligns the working gap of the driving component 3 from the side of the transmission line. At this time, the transportation device drives the driving component 3 to continue to move until the transmission line enters its working gap. At this time, the cylinder 33 drives the roller 39 to clamp the transmission line and the walking wheel 37, and then the transportation component 4 releases the driving component 3 and returns to the ground through the drone 1. After that, the staff remotely controls the inspection component 5 to inspect the transmission line;

[0064] Since the inspection components 5 are transported by simply relying on the camera of the drone 1 and the visual operation of the staff through the camera, in the case of sudden strong winds, the transmission line will be subjected to a large wind load, resulting in swings and oscillations, which makes it more difficult for the staff to perform the alignment operation;

[0065] In order to solve this problem, a guide assembly 2 is provided on the fixing frame 101, and the guide assembly 2 is used to control the vibration of the power transmission line within a certain range;

[0066] like Figure 1 As shown, the guide assembly 2 includes two sets of guide frames 21 fixedly mounted on one side of the fixed frame 101, and the two sets of guide frames 21 are welded by multiple sets of steel frames, and the two sets of guide frames 21 are arranged opposite to each other, and the side of the two sets of guide frames 21 arranged opposite to each other is arranged in an inclined state to form an inclined channel 22 for gathering the transmission line;

[0067] The angle of the inclined channel 22 gradually decreases as it approaches the fixing frame 101, so that when the power transmission lines are being gathered, the inclined channel 22 can be used to gather the power transmission lines.

[0068] like Figure 2 As shown, two sets of fixing seats 23 are fixedly installed on one end of the fixing frame 101 close to the guide frame 21, and a bottom plate 24 is fixedly installed on one end of the fixing seat 23 away from the fixing frame 101. A rotating rod 26 is rotatably installed on the bottom plate 24, and a rotating plate 27 is fixedly installed on the rotating rod 26, so that the rotating plate 27 is close to or away from the bottom plate 24. A torsion spring 25 is arranged between the rotating rod 26 and the floor, so that the rotating rod 26 can be reset after being rotated;

[0069] At the same time, a baffle 28 is fixedly mounted on the rotating plate 27, so that when the rotating plate 27 approaches or moves away from the bottom plate 24, the baffle 28 is synchronously driven to approach or move away from the fixed seat 23. It should be noted that in the initial state, the baffle 28 and the fixed seat 23 are in a vertical state, so as to form a placement space for placing the power transmission line between the fixed frame 101 and the guide frame 21;

[0070] Continue to refer Figure 2 When the transmission line enters through the inclined channel 22 and gradually approaches the fixed frame 101, it first contacts the baffle 28. At this time, the baffle 28 gradually rotates toward the fixed frame 101 due to the thrust generated by the transmission line, thereby driving the rotating plate 27 to rotate. At this time, the torsion spring 25 is compressed, and a gap for the transmission line to enter is generated in the placement space until the transmission line enters the placement space. At this time, the transmission line is separated from the baffle 28. At this time, the torsion spring 25 is reset, thereby driving the baffle 28 to reset, so as to close the placement space, thereby restricting the transmission line. Then, the transport device transports the inspection component 5 to the transmission line.

[0071] When returning, the drone 1 returns along the original route, and then pushes the baffle 28 away from the fixing frame 101 through the power transmission line. At this time, a gap is formed in the placement space again to facilitate the output of the power transmission line. After the power transmission line is separated from the baffle 28, it is reset under the action of the torsion spring 25, and the placement space is closed again.

[0072] like Figure 7-Figure 8 As shown, in order to ensure that the driving component 3 encounters well-tested hardware on the transmission line and needs to bypass the hardware, an obstacle bypassing component 6 is provided on the driving component 3;

[0073] Continue to refer Figure 8 The obstacle bypassing assembly 6 includes a base 61 fixedly mounted on one side of the vertical portion, the base 61 is a supporting portion of the obstacle bypassing assembly 6, and is used to support the obstacle bypassing assembly 6. At the same time, a connecting rod portion is arranged on the base 61, and the connecting rod portion includes a block 62 fixedly mounted on the base 61, and a first rotating block 64 is rotatably mounted inside the block 62, and a straight rod 63 is fixedly mounted on one end of the first rotating block 64 close to the square frame, and a touch plate 65 is fixedly mounted on one end of the straight rod 63 away from the block 62, and the touch plate 65 is located on one side of the roller 39, so that when encountering a good hardware, the touch plate 65 contacts the hardware first, and as the driving assembly 3 gradually moves, the touch plate 65 is driven to rotate along the straight rod 63, thereby driving the first rotating block 64 to rotate;

[0074] At the same time, a second rotating block 66 is hingedly connected to one end of the first rotating block 64 away from the block 62, and a sliding rod 67 is hingedly connected to one end of the second rotating block 66 away from the first rotating block 64. The sliding rod 67 passes through the vertical portion, so that when the first rotating block 64 rotates, the sliding rod 67 is driven by the second rotating block 66 to move along the axis of the sliding rod 67 in the vertical portion;

[0075] Continue to refer Figure 8 At the same time, a contact switch 610 is fixedly installed inside the groove 35, and the contact switch 610 is electrically connected to the cylinder 33 to control the opening and closing of the cylinder 33, and the contact switch 610 is located above the slide bar 67 inside the groove 35. The contact switch 610 has a shell and a trigger part located at the bottom of the shell, wherein the shell is fixedly installed with the inner wall of the groove 35 to fix the contact switch 610, and the trigger part is a button for opening or closing the contact switch 610;

[0076] At the same time, a second inclined block 69 is fixedly sleeved on the slide bar 67. The second inclined block 69 is located on one side of the trigger part and has an inclined surface. When the slide bar 67 moves, the second inclined block 69 is driven to move and contact the trigger part. As the inclined surface of the second inclined block 69 continues to go deeper, the trigger part is lifted up, thereby controlling the cylinder 33 to extend. At this time, the roller 39 releases the power transmission line, so that the roller 39 will not contact the hardware on the power transmission line, and the walking wheel 37 can pass along the surface of the hardware.

[0077] It should be noted that a connecting rod portion and a first inclined block 68 of the same structure are provided on the other side of the vertical portion, and the connecting rod portion is connected to the other end of the sliding rod 67, so that the contact switch 610 can be triggered during the process of the driving component 3 moving forward and backward on the transmission line, thereby better passing through the hardware, and because there is a certain gap between the two sets of vertical portions, when passing through the hardware, one of the obstacle bypassing components 6 is triggered while the other is not triggered, thereby allowing the driving component 3 to move normally on the transmission line;

[0078] The present application also provides a method for delivering a power transmission line inspection robot based on a drone platform, which specifically comprises the following steps:

[0079] Step 1: The staff controls the transport component 4 to grab the inspection component 5 through the remote control;

[0080] Step 2: The remote-controlled drone 1 aligns the inspection component 5 from the side of the power transmission line through the guide component 2;

[0081] Step 3, the remote control transport component 4 transports the inspection component 5 to the transmission line;

[0082] Step 4: The remote control transport component 4 releases the inspection component 5 and controls the drone 1 to return;

[0083] Step 5, controlling the inspection component 5 to move on the transmission line, and performing inspections through the inspection component 5;

[0084] Step 6: After the inspection is completed, the drone 1 is remotely controlled to the top of the power transmission line, and the inspection component 5 is grabbed by the transport component 4;

[0085] Step 7: remotely control the drone 1 to return to the ground.

[0086] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A transmission line inspection robot based on a drone platform, characterized by: include: Drones (1); A fixing frame (101), wherein the fixing frame (101) is installed on the drone (1); A transport component (4), the transport component (4) being suitable for grasping the robot, the transport component (4) being mounted on the fixed frame (101); A driving assembly (3), the driving assembly (3) being suitable for traveling on a transmission line, the driving assembly (3) being located below the fixing frame (101); An inspection component (5), the inspection component (5) being suitable for inspection operations of power transmission lines, the inspection component (5) being arranged on the driving component (3); A guide assembly (2), the guide assembly (2) being suitable for reducing vibration of a power transmission line, the guide assembly (2) being arranged on the fixing frame (101), and the guide assembly (2) comprising: Two groups of guide frames (21), the guide frames (21) being mounted on one side of the fixing frame (101), and the two groups of guide frames (21) being arranged opposite to each other to form an inclined channel (22); Two groups of fixing seats (23), wherein the fixing seats (23) are installed on one side of the fixing frame (101); Two groups of bottom plates (24), wherein the bottom plates (24) are mounted on an end of the fixing plate away from the fixing frame (101); Two groups of rotating rods (26), the rotating rods (26) are rotatably mounted on the bottom plate (24), a rotating plate (27) is mounted on the rotating rods (26), and a torsion spring (25) is arranged between the rotating rods (26) and the bottom plate (24); Two groups of baffles (28), wherein the baffles (28) are mounted on the rotating plate (27).

2. The power transmission line inspection robot based on the UAV platform according to claim 1 is characterized in that: The transport assembly (4) comprises a drive frame (41) mounted on the fixed frame (101), two groups of belt wheels (47) being rotatably mounted on the drive frame (41), a belt (47) being sleeved on the two groups of belt wheels (47), a servo motor being mounted on one side of the drive frame (41), and an output end of the servo motor being connected to one of the groups of belt wheels (47).

3. The power transmission line inspection robot based on the UAV platform according to claim 2 is characterized in that: The belt (47) is provided with a clamping block, a slide rail (48) is installed on the driving frame (41), and the clamping block is slidably arranged on the slide rail (48).

4. The power transmission line inspection robot based on the UAV platform according to claim 3 is characterized by: A moving block (42) is mounted on the clamping block, a hook (43) is arranged on the moving block (42), a connecting plate (45) is arranged below the hook (43), clamping portions (46) are arranged at both ends of the connecting plate (45), and a cross frame (44) is mounted on the connecting plate (45).

5. The power transmission line inspection robot based on the UAV platform according to claim 1 is characterized in that: The driving assembly (3) comprises a support frame (32) arranged below the fixing frame (101), an electric box (31) is installed below the support frame (32), the support frame (32) has two groups of vertical parts, one end of each of the two groups of vertical parts is installed with a fixing block (36), a stepping motor is installed inside the fixing block (36), and a walking wheel (37) is installed at the output end of the stepping motor.

6. The power transmission line inspection robot based on the UAV platform according to claim 5 is characterized by: A clamping assembly is provided on both sets of vertical parts, and the clamping assembly comprises a cylinder (33) hinged on the vertical part, the output end of the cylinder (33) is hinged with a connecting block (34), the connecting block (34) is rotatably mounted on the vertical part, a groove (35) is provided on the vertical part, a mounting block (38) is mounted on one end of the connecting block (34) away from the cylinder (33), a roller (39) is rotatably mounted on the mounting block (38), and the roller (39) is located below the walking wheel (37).

7. The power transmission line inspection robot based on the UAV platform according to claim 5 is characterized by: The inspection component (5) comprises a protrusion mounted on the support frame (32), a first motor (52) being mounted on the protrusion, a first rotating arm (51) being mounted at an output end of the first motor (52), and the first rotating arm (51) being rotatably mounted at an end of the protrusion away from the support frame (32).

8. The power transmission line inspection robot based on the UAV platform according to claim 7 is characterized in that: A second motor (53) is mounted on one end of the first rotating arm (51) away from the first motor (52); a second rotating arm is mounted on the output end of the second motor (53); and the second rotating arm is rotatably mounted on the first rotating arm (51).

9. The power transmission line inspection robot based on the UAV platform according to claim 8 is characterized in that: A bearing plate (54) is mounted on one end of the second rotating arm away from the second motor (53), and an inspection mechanical arm (55) is mounted on the bearing plate (54).

10. The method for delivering a power line inspection robot based on an unmanned aerial vehicle platform according to claim 1, characterized in that: Step 1: The staff controls the transport component (4) to grab the inspection component (5) through the remote control; Step 2: The remote-controlled drone (1) aligns the inspection component (5) from the side of the power transmission line through the guide component (2); Step 3, the remote control transport component (4) transports the inspection component (5) to the transmission line; Step 4: the remote control transport component (4) releases the inspection component (5) and controls the drone (1) to return; Step 5, controlling the inspection component (5) to move on the transmission line, and performing inspections through the inspection component (5); Step 6: After the inspection is completed, the drone (1) is remotely controlled to the top of the power transmission line, and the inspection component (5) is grabbed by the transport component (4); Step 7, remotely controlling the drone (1) to return to the ground.

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