An on-line mechanism and method for an overhead power transmission line acceptance robot

Abstract

The present invention relates to the technical field of power transmission line operation robots, and discloses an online mechanism and method for an overhead power transmission line acceptance robot, wherein the online mechanism comprises a rotor wheel foot device, a posture adjustment device, an auxiliary obstacle-crossing wheel foot device, and a connecting frame adjustment device, and is transported upward and reaches the high-voltage power transmission line through the rotor wheel foot device, and the positions of the four rotor wheel foot devices are controlled by the posture adjustment device to balance the lifting force provided by the rotor, so that the robot can rise safely. The present invention can enable the robot to quickly and safely reach the high-altitude power transmission line, greatly shorten the time for climbing and positioning, and the rising method is more efficient.

Description

Technical Field

[0001] The invention relates to the technical field of power transmission line fault diagnosis operation robots, and in particular to an on-line mechanism and method for an overhead power transmission line acceptance robot. Background Art

[0002] In modern power systems, the safety and stability of overhead transmission lines are crucial to ensuring the reliable operation of the power grid. With the rapid expansion of the power grid and the continuous growth of electricity demand, traditional manual inspection methods can no longer meet the requirements of high efficiency and high safety. Therefore, the development of intelligent and automated transmission line inspection robots has become an urgent need in the industry.

[0003] Although the research and application of power transmission line inspection robots have made certain progress, the existing technology still has many shortcomings. The existing power transmission line robot on-line mechanism usually uses manual ropes to pull the robot to the transmission line for inspection. This on-line method has the problems of low operating efficiency, high labor intensity, poor safety, easy personal injury, difficulty in achieving automatic control, and cannot fully guarantee the accuracy of the robot on-line. Therefore, it is urgent to develop a new type of power transmission line robot on-line mechanism to solve the above problems. Summary of the invention

[0004] In order to overcome the above technical problems, the present invention provides an online mechanism for an overhead power transmission line acceptance robot, which can enable the robot to quickly and safely reach high-altitude power transmission lines, greatly shortening the climbing and positioning time, and making the ascending method more efficient.

[0005] In order to achieve the above technical objectives, the present invention adopts the following technical solutions:

[0006] An on-line mechanism of an overhead power transmission line acceptance robot, comprising a rotor wheel foot device, a posture adjustment device, an auxiliary obstacle crossing wheel foot device and a connecting frame adjustment device;

[0007] The connecting frame adjustment device comprises a pair of connecting frames with adjustable spacing, the two connecting frames are arranged in parallel, each connecting frame is provided with an auxiliary wheel moving shell and a driving assembly, the driving assembly is used to drive the auxiliary wheel moving shell to translate on the connecting frame to adjust the spacing between the two connecting frames;

[0008] The auxiliary obstacle-crossing wheel foot device is arranged below the connecting frame adjustment device, and includes two sets of suspension adjustment components and two sets of auxiliary wheels, and each set of auxiliary wheels is hung below the corresponding auxiliary wheel movable housing through the suspension adjustment component;

[0009] The posture adjustment device is arranged at both ends of the connecting frame adjustment device, and includes four sets of steering adjustment components, which are respectively arranged at both ends of the two connecting frames;

[0010] The rotor wheel foot device is installed on the connecting frame adjustment device through the posture adjustment device, and includes four groups of rotor rotating wheel assemblies. Each group of rotor rotating wheel assemblies includes a rotor, a rotor motor, a fine-tuning rotating motor, a connecting bracket and a rotating wheel. The rotor and the rotating wheel are arranged at 90 degrees and installed on the connecting bracket. The rotor motor is used to drive the rotor to work, and the fine-tuning rotating motor is used to drive the connecting bracket to rotate.

[0011] Preferably, in the rotor wheel foot device, each set of rotor rotating wheel assemblies further includes a rotor mounting frame, a rotor motor housing, a fine-tuning rotating motor housing, a first wheel foot connecting plate, a second wheel foot connecting plate, a rotating connecting block, a rotating bearing and a rotating bearing sleeve;

[0012] The rotor is installed on a rotor mounting frame, the output end of the rotor motor is connected to the rotor mounting frame, the rotor motor is installed in a rotor motor housing, the rotor motor housing is fixedly connected to a fine-tuning rotating motor housing, the fine-tuning rotating motor housing serves as a connecting bracket, the fine-tuning rotating motor housing is provided with a fine-tuning rotating motor and a rotating shaft passing through the fine-tuning rotating motor housing, the rotating shaft is fixedly connected to the fine-tuning rotating motor housing by a spline, and the output end of the fine-tuning rotating motor is connected to the rotating shaft.

[0013] Preferably, a first wheel foot connecting plate is respectively provided at two opposite ends of the fine-tuning rotary motor housing, and two ends of a wheel foot connecting plate are respectively connected to a rotating connecting block through a second wheel foot connecting plate, and a rotating bearing sleeve is provided between two rotating connecting blocks directly below each first wheel foot connecting plate;

[0014] The two ends of the rotating wheel are installed between two rotating bearing sleeves of the fine-tuning rotating motor housing on the corresponding side through rotating bearings.

[0015] Preferably, in the posture adjustment device, each group of steering adjustment components includes a steering connecting plate, a steering plate, a steering sliding bearing, a steering gear, a steering motor, a steering motor sliding bearing, and a pinion;

[0016] One end of the steering plate is mounted on one end of the connecting frame through a steering sliding bearing and a steering gear, the steering motor is fixed on the connecting frame, the output end of the steering motor is connected to a pinion through a steering motor sliding bearing, and the pinion is meshed with the corresponding steering gear;

[0017] A group of steering connecting plates are arranged at the other end of the steering plate, and the steering connecting plates are used for installing the rotor rotating wheel assembly.

[0018] Preferably, the connecting frame adjustment device further comprises a connecting plate with an X-shaped structure, and four ends of the connecting plate are respectively fixed to the two connecting frames and the two auxiliary wheel movable housings.

[0019] Preferably, in the connecting frame adjustment device, the driving assembly adopts a screw drive mode, and each connecting frame is provided with a screw shaft, a movable shaft, a screw fixing plate, a screw motor fixing plate, a screw motor, a screw sleeve, a screw motor pulley, a screw shaft pulley and a belt;

[0020] The screw shaft and the moving shaft are arranged horizontally and both pass through the auxiliary wheel moving housing. The screw fixing plate and the screw motor fixing plate are respectively arranged on both sides of the auxiliary wheel moving housing to fix the screw shaft and the moving shaft end on the corresponding side.

[0021] The screw motor is mounted on a screw motor fixing plate, the output end of the screw motor is connected to a screw motor pulley, the screw motor pulley and the screw shaft pulley are driven by a belt, and the screw shaft pulley is connected to the screw shaft for driving the screw shaft to rotate.

[0022] Preferably, the connecting plate of the X-shaped structure includes four connecting arms, and connecting plate hinges are respectively provided at the ends of the four connecting arms, which are hinged to the side walls of the auxiliary wheel moving housing and the screw motor fixing plate of the two connecting frames through the connecting plate hinges.

[0023] Preferably, in the auxiliary obstacle-crossing wheel-foot device, the suspension adjustment assembly includes an auxiliary obstacle-crossing wheel-foot steering gear, an auxiliary first wheel-foot connecting plate, an auxiliary second wheel-foot connecting plate, an auxiliary third wheel-foot connecting plate, an auxiliary wheel bearing sleeve and an auxiliary wheel bearing;

[0024] There are two auxiliary obstacle-crossing wheel foot servos, which are symmetrically mounted inside the auxiliary wheel moving housing through auxiliary first wheel foot connecting plates, and opposite ends of each auxiliary first wheel foot connecting plate are respectively connected to an auxiliary third wheel foot connecting plate through an auxiliary second wheel foot connecting plate, and an auxiliary wheel bearing sleeve is arranged between two auxiliary third wheel foot connecting plates directly below each auxiliary first wheel foot connecting plate;

[0025] The auxiliary wheel is installed between two auxiliary wheel bearing sleeves of the suspension adjustment assembly on the corresponding side through an auxiliary wheel bearing.

[0026] A method for going online of an online mechanism of an overhead transmission line acceptance robot is applied to the online mechanism, wherein the rotating wheel and the two auxiliary wheels are equivalent to the six wheel feet of the acceptance robot, and the method for going online comprises the following steps:

[0027] In the initial state of the on-line mechanism, the rotors are located on both sides of the connecting frame, and the rotating wheel is located below the connecting frame;

[0028] The fine-tuning rotary motor in the rotor wheel foot device drives the connecting bracket to rotate, and each rotor is rotated from the initial position to the top of the connecting frame, and each rotating wheel is rotated from the initial position to the two sides of the connecting frame; the rotor motor in the rotor wheel foot device (1) drives each rotor to rotate, and the line-up mechanism takes off;

[0029] When the flight reaches a preset height, the fine-tuning rotary motor drives the connecting bracket to rotate in the opposite direction, resets the rotor and the rotating wheel, and the driving assembly adjusts the auxiliary wheel moving housing to translate on the connecting frame, and adjusts the spacing between the two connecting frames so that each rotating wheel is placed on a pair of parallel overhead transmission lines;

[0030] The acceptance robot walks on the overhead transmission lines via four rotating wheels to perform inspection work.

[0031] Preferably, if an obstacle is encountered during walking, the following obstacle-crossing process is performed:

[0032] The two rotating wheels in the front row in the walking direction are retracted under the action of the fine-tuning rotary motor, and the two auxiliary wheels are lowered under the drive of the auxiliary obstacle-crossing wheel foot steering gear. The acceptance robot continues to walk until the two rotating wheels in the front row cross the obstacle;

[0033] Drive the two rotating wheels in the front row down, drive the two auxiliary wheels up, and the acceptance robot continues to move until the two auxiliary wheels pass over the obstacle;

[0034] The two rotating wheels in the last row are retracted under the action of the fine-tuning rotary motor, and the two auxiliary wheels are lowered under the drive of the auxiliary obstacle-crossing wheel foot servo. The acceptance robot continues to move until the two rotating wheels in the last row cross the obstacle.

[0035] Due to the adoption of the above technical solution, the present invention has the following beneficial effects:

[0036] The present invention is provided with multiple functional devices. The robot is transported upward and reaches the high-voltage transmission line through the rotor wheel foot device; the positions of the four rotor wheel foot devices are controlled through the posture adjustment device to balance the lifting force provided by the rotor so that it can rise safely; the distance between the two wheel feet of the acceptance robot is adjusted through the connecting frame adjustment device so that it can be successfully connected to the high-voltage transmission line, which is convenient for subsequent inspection tasks; and the auxiliary obstacle-crossing legs are used to enable the acceptance robot to smoothly cross obstacles during the inspection task.

[0037] The online mechanism of the overhead power transmission line acceptance robot of the present invention can help the robot reach the high-altitude power transmission lines quickly and safely, thereby greatly shortening the time for climbing and positioning. The ascending method is more efficient and can be applied to online operations of different types of power transmission line acceptance robots and in different environments, such as power inspection, pipeline inspection, post-disaster rescue and other scenarios, and has good applicability and promotion value. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a structural schematic diagram of the initial state of the on-line mechanism of the overhead transmission line acceptance robot;

[0039] Figure 2 is a schematic diagram of a rotor wheel foot device;

[0040] Figure 3 A schematic diagram of a fine-tuning rotary motor housing, a fine-tuning rotary motor and a rotary shaft;

[0041] Figure 4 is a structural schematic diagram of a posture adjustment device;

[0042] Figure 5 It is a schematic diagram of the structure of the wheel-foot device for assisting obstacle crossing;

[0043] Figure 6 It is a structural schematic diagram of the connecting frame adjustment device;

[0044] Figure 7 It is a structural diagram of the flight status of the online mechanism;

[0045] Figure 8a This is a schematic diagram of the first step of overcoming obstacles for the online organization;

[0046] Figure 8b This is a schematic diagram of the second step of the on-line mechanism overcoming obstacles;

[0047] Figure 8c This is a schematic diagram of the third step of the obstacle crossing of the online mechanism;

[0048] in,

[0049] 1-rotor wheel foot device, 2-position adjustment device, 3-auxiliary obstacle crossing wheel foot device, 4-connecting frame adjustment device;

[0050] 101-rotor, 102-rotor mounting frame, 103-rotor motor, 104-rotor motor housing, 105-fine-tuning rotary motor housing, 106-first wheel foot connecting plate, 107-second wheel foot connecting plate, 108-rotating connecting block, 109-rotating bearing, 110-rotating wheel, 111-rotating bearing sleeve, 112-fine-tuning rotary motor, 113-rotating shaft;

[0051] 201-steering connecting plate, 202-steering plate, 203-steering sliding bearing, 204-steering gear, 205-steering motor, 206-steering motor sliding bearing, 207-pinion gear;

[0052] 301- auxiliary obstacle-crossing wheel foot steering gear, 302- auxiliary first wheel foot connecting plate, 303- auxiliary second wheel foot connecting plate, 304- auxiliary third wheel foot connecting plate, 305- auxiliary wheel bearing sleeve, 306- auxiliary wheel, 307- auxiliary wheel bearing;

[0053] 401-screw motor, 402-screw motor pulley, 403-screw shaft pulley, 404-belt, 405-screw shaft, 406-screw sleeve, 407-moving shaft, 408-auxiliary wheel moving housing, 409-screw fixing plate, 410-connecting plate, 411-connecting plate hinge, 412-screw motor fixing plate. DETAILED DESCRIPTION

[0054] The specific implementation modes of the present invention are further described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0055] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0056] Embodiment 1: An on-line mechanism of an overhead power transmission line acceptance robot, such as Figure 1 As shown, it includes a rotor wheel foot device 1, a posture adjustment device 2, an auxiliary obstacle-crossing wheel foot device 3 and a connecting frame adjustment device 4.

[0057] like Figure 2 As shown, the rotor wheel foot device 1 is used for the lifting and online operation of the robot, including a rotor 101, a rotor motor 103, a rotor mounting frame 102, a rotor motor housing 104, a fine-tuning rotary motor housing 105, a first wheel foot connecting plate 106, a second wheel foot connecting plate 107, a rotating connecting block 108, a rotating bearing 109, a rotating wheel 110, and a rotating bearing sleeve 111. Figure 3 As shown, a fine-tuning rotary motor 112 and a rotating shaft 113 penetrating the shell are arranged inside the fine-tuning rotary motor shell 105. The rotating shaft 113 is fixedly connected to the fine-tuning rotary motor shell 105 via a spline. The fine-tuning rotary motor 112 directly controls the rotating shaft 113 of the fine-tuning rotary motor shell 105, driving the fine-tuning rotary motor shell 105 to swing up and down. Since the rotor 101 and the rotating wheel 110 are also fixed on the fine-tuning rotary motor shell 105 and the two are arranged at 90 degrees, the rotor 101 and the rotating wheel 110 will swing up and down with the fine-tuning rotary motor shell 105.

[0058] The rotor motor 103 is a high-efficiency brushless motor with electric propellers that can provide power for large loads. The blades are made of carbon fiber material. After the rotor is rotated upward by fine-tuning the rotating motor 112, the rotor motor 103 starts working. The four rotors work simultaneously to provide the robot with sufficient lifting force. When the height is reached, the fine-tuning rotating motor lowers the rotor 101 again, and the robot's rotating wheel 110 is connected to the transmission line, and the robot starts patrolling normally; the rotating bearing 109 is used to reduce friction when the rotating wheel walks, making the walking smoother.

[0059] like Figure 4 As shown, the posture adjustment device 2 is used to adjust and fix the posture direction of the robot's rotor, and specifically includes: a steering connecting plate 201, a steering plate 202, a steering sliding bearing 203, a steering gear 204, a steering motor 205, a steering motor sliding bearing 206, and a pinion 207.

[0060] The steering connecting plate 201 is directly connected to the rotor wheel foot device 1 to control the direction of the rotor wheel foot device 1. For example, if the robot needs to move to the right, it is only necessary to increase the inclination angle of the left rotor wheel foot device 1. The steering plate 202, the steering gear 204, and the steering sliding bearing 203 are connected to the steering motor 205 to provide power for the steering of the rotor wheel foot device 1. The steering motor 205 is connected to the pinion 207 through a spline, and power is provided through the rotation between the pinion 207 and the steering gear 204 to complete the steering action to adjust the posture of the robot.

[0061] like Figure 5 As shown, the auxiliary obstacle-crossing wheel-foot device 3 is used to assist the inspection robot in overcoming obstacles encountered on the wire, and specifically includes: an auxiliary obstacle-crossing wheel-foot servo 301, an auxiliary first wheel-foot connecting plate 302, an auxiliary second wheel-foot connecting plate 303, an auxiliary third wheel-foot connecting plate 304, an auxiliary wheel bearing sleeve 305, an auxiliary wheel 306, and an auxiliary wheel bearing 307. The auxiliary wheel 306 is lifted up and lowered through the auxiliary obstacle-crossing wheel-foot servo 301.

[0062] like Figure 6 As shown, the connecting frame adjustment device 4 is used to adjust the distance between the two rotor wheel feet, including a screw motor 401, a screw motor pulley 402, a screw shaft pulley 403, a belt 404, a screw shaft 405, a screw sleeve 406, a movable shaft 407, an auxiliary wheel movable housing 408, a screw fixing plate 409, a connecting plate 410, a connecting plate hinge 411 and a screw motor fixing plate 412.

[0063] The screw motor 401 rotates the screw shaft 405 through the belt transmission, and the screw shaft 405 drives the screw to move. The screw shaft 405 cooperates with the auxiliary wheel moving shell 408. During the movement of the screw shaft 405, relying on the movement of the screw, the auxiliary wheel moving shell 408 moves horizontally on the screw shaft 405. In addition, there is a connecting plate hinge 411 on the auxiliary wheel moving shell 408 to fix the connecting plate 410. When the auxiliary wheel moving shell 408 moves horizontally, the connecting plate 410 will make the two auxiliary wheel moving shells 408 move closer or farther away to ensure that the rotor wheel foot device can successfully reach the wire.

[0064] Embodiment 2: The online mechanism of the overhead transmission line acceptance robot designed in the present invention is actually the acceptance robot body. The four rotating wheels 110 and the two auxiliary wheels 306 are equivalent to the six wheel feet of the acceptance robot. In a normal state, the acceptance robot walks on the transmission line through the four rotating wheels 110. The auxiliary wheels 306 are used for overcoming obstacles. When not working, they can be set to a retracted state with an angle of less than 90 degrees to the connecting frame. When overcoming obstacles, they are lowered under the drive of the auxiliary obstacle-overcoming wheel foot servo 301 to form an angle of 90 degrees with the connecting frame.

[0065] A method for an on-line mechanism of an overhead transmission line acceptance robot is applied to the on-line mechanism in the first embodiment, comprising the steps of:

[0066] In the initial state of the threading mechanism, the rotors 101 are located on both sides of the connecting frame, and the rotating wheel 110 is located below the connecting frame;

[0067] The fine-tuning rotary motor in the rotor wheel foot device 1 drives the connecting bracket to rotate, and each rotor 101 is rotated from the initial position to the top of the connecting frame, and each rotating wheel 110 is rotated from the initial position to the two sides of the connecting frame; the rotor motor 103 in the rotor wheel foot device 1 drives each rotor 101 to rotate, and the line-up mechanism takes off. Figure 7 As shown;

[0068] When the flight reaches a preset height, the fine-tuning rotary motor drives the connecting bracket to rotate in the opposite direction, resets the rotor 101 and the rotating wheel 110, and the driving assembly adjusts the auxiliary wheel moving housing 408 to translate on the connecting frame, and adjusts the spacing between the two connecting frames, so that each rotating wheel 110 is placed on a pair of parallel overhead transmission lines;

[0069] The acceptance robot walks on the overhead transmission line via four rotating wheels 110 to perform inspection work.

[0070] like Figures 8a to 8c As shown in Figure 1, obstacle crossing includes the following three steps:

[0071] In the first step, the two rotating wheels 110 in the front row are retracted under the action of the fine-tuning rotary motor, and the two auxiliary wheels 306 are lowered under the drive of the auxiliary obstacle-crossing wheel foot steering gear 301, and the acceptance robot continues to walk until the two rotating wheels 110 in the front row cross the obstacle;

[0072] Step 2: Drive the two rotating wheels 110 in the front row down, drive the two auxiliary wheels 306 up, and the acceptance robot continues to walk until the two auxiliary wheels 306 pass over the obstacle;

[0073] Step 3: The two rotating wheels 110 in the last row are retracted under the action of the fine-tuning rotary motor, and the two auxiliary wheels 306 are lowered under the drive of the auxiliary obstacle-crossing wheel foot steering gear 301, and the acceptance robot continues to walk until the two rotating wheels 110 in the last row cross the obstacle.

[0074] This obstacle crossing method can ensure that the robot always walks on the transmission line with four wheels during movement and maintains balance. During the obstacle crossing process, each wheel will not touch the obstacle. The obstacles that the acceptance robot may encounter during walking mainly include snow of normal height on the high-voltage transmission line, shock-proof hammer, insulator string, tower components, lightning conductor, wire clamp and hardware, etc. The obstacles are generally not high and do not need to be crossed by flying. The bottom of the rotor wheel foot device 1 only needs to be higher than the obstacle.

[0075] Although specific embodiments of the present invention are described above, those skilled in the art should understand that these are merely examples and that various changes or modifications may be made to these embodiments without violating the principles and essence of the present invention.

Claims

1. An on-line mechanism for an overhead power transmission line acceptance robot, characterized in that: It comprises a rotor wheel foot device (1), a position adjustment device (2), an auxiliary obstacle-crossing wheel foot device (3) and a connecting frame adjustment device (4); The connecting frame adjustment device (4) comprises a pair of connecting frames with adjustable spacing, the two connecting frames are arranged in parallel, each connecting frame is provided with an auxiliary wheel movable housing (408) and a driving assembly, the driving assembly is used to drive the auxiliary wheel movable housing (408) to translate on the connecting frame to adjust the spacing between the two connecting frames; the connecting frame adjustment device (4) also comprises an X-shaped connecting plate (410), the four ends of the connecting plate (410) are respectively fixed to the two connecting frames and the two auxiliary wheel movable housings (408); The auxiliary obstacle-crossing wheel-foot device (3) is arranged below the connecting frame adjustment device (4), and comprises two sets of suspension adjustment components and two sets of auxiliary wheels (306), and each set of auxiliary wheels (306) is hung below the corresponding auxiliary wheel movable housing (408) through the suspension adjustment component; The posture adjustment device (2) is arranged at both ends of the connecting frame adjustment device (4), and comprises four sets of steering adjustment components, which are respectively arranged at both ends of the two connecting frames; The rotor wheel foot device (1) is installed on the connecting frame adjustment device (4) via the position adjustment device (2), and comprises four sets of rotor rotating wheel assemblies, each set of rotor rotating wheel assemblies comprises a rotor (101), a rotor motor (103), a fine-tuning rotating motor (112), a connecting bracket and a rotating wheel (110), the rotor (101) and the rotating wheel (110) being arranged at 90 degrees to be installed on the connecting bracket, the rotor motor (103) being used to drive the rotor (101) to work, and the fine-tuning rotating motor (112) being used to drive the connecting bracket to rotate; In the connecting frame adjustment device (4), the driving assembly adopts a screw drive mode, and each connecting frame is provided with a screw shaft (405), a movable shaft (407), a screw fixing plate (409), a screw motor fixing plate (412), a screw motor (401), a screw sleeve (406), a screw motor pulley (402), a screw shaft pulley (403) and a belt (404); The screw shaft (405) and the movable shaft (407) are arranged horizontally and both pass through the auxiliary wheel movable housing (408); the screw fixing plate (409) and the screw motor fixing plate (412) are respectively arranged on both sides of the auxiliary wheel movable housing (408) and are used to fix the ends of the screw shaft (405) and the movable shaft (407) on the corresponding sides; The screw motor (401) is mounted on a screw motor fixing plate (412); the output end of the screw motor (401) is connected to a screw motor pulley (402); the screw motor pulley (402) and the screw shaft pulley (403) are driven via a belt (404); the screw shaft pulley (403) is connected to a screw shaft (405) for driving the screw shaft (405) to rotate.

2. The on-line mechanism of an overhead power transmission line acceptance robot according to claim 1, characterized in that: In the rotor wheel foot device (1), each set of rotor rotating wheel assemblies further comprises a rotor mounting frame (102), a rotor motor housing (104), a fine-tuning rotating motor housing (105), a first wheel foot connecting plate (106), a second wheel foot connecting plate (107), a rotating connecting block (108), a rotating bearing (109) and a rotating bearing sleeve (111); The rotor (101) is mounted on a rotor mounting frame (102); the output end of the rotor motor (103) is connected to the rotor mounting frame (102); the rotor motor (103) is mounted in a rotor motor housing (104); the rotor motor housing (104) is fixedly connected to a fine-tuning rotary motor housing (105); the fine-tuning rotary motor housing (105) serves as a connecting bracket; a fine-tuning rotary motor (112) and a rotating shaft (113) penetrating the fine-tuning rotary motor housing (105) are provided inside the fine-tuning rotary motor housing (105); the rotating shaft (113) is fixedly connected to the fine-tuning rotary motor housing (105) via a spline; and the output end of the fine-tuning rotary motor (112) is connected to the rotating shaft (113).

3. The on-line mechanism of an overhead power transmission line acceptance robot according to claim 2, characterized in that: A first wheel foot connection plate (106) is respectively provided at two opposite ends of the fine-tuning rotary motor housing (105); the two ends of the first wheel foot connection plate (106) are respectively connected to a rotating connection block (108) via a second wheel foot connection plate (107); and a rotating bearing sleeve (111) is provided between two rotating connection blocks (108) directly below each first wheel foot connection plate (106); The two ends of the rotating wheel are mounted between two rotating bearing sleeves (111) of the fine-tuning rotating motor housing (105) on the corresponding side via rotating bearings (109).

4. The on-line mechanism of an overhead power transmission line acceptance robot according to claim 1, characterized in that: In the posture adjustment device (2), each group of steering adjustment components comprises a steering connection plate (201), a steering plate (202), a steering sliding bearing (203), a steering gear (204), a steering motor (205), a steering motor sliding bearing (206), and a pinion (207); One end of the steering plate (202) is mounted on one end of the connecting frame via a steering sliding bearing (203) and a steering gear (204); a steering motor (205) is fixed on the connecting frame; an output end of the steering motor (205) is connected to a pinion (207) via a steering motor sliding bearing (206); and the pinion (207) is meshed with a corresponding steering gear (204); A group of steering connecting plates (201) are provided at the other end of the steering plate (202), and the steering connecting plates (201) are used to install the rotor rotating wheel assembly.

5. The on-line mechanism of an overhead power transmission line acceptance robot according to claim 1, characterized in that: The X-shaped connecting plate (410) comprises four connecting arms, and connecting plate hinges (411) are respectively provided at the ends of the four connecting arms, and are hinged to the side walls of the auxiliary wheel moving housing (408) and the screw motor fixing plate (412) of the two connecting frames through the connecting plate hinges (411).

6. The on-line mechanism of an overhead power transmission line acceptance robot according to claim 1, characterized in that: In the auxiliary obstacle-crossing wheel-foot device (3), the suspension adjustment component comprises an auxiliary obstacle-crossing wheel-foot steering gear (301), an auxiliary first wheel-foot connecting plate (302), an auxiliary second wheel-foot connecting plate (303), an auxiliary third wheel-foot connecting plate (304), an auxiliary wheel bearing sleeve (305) and an auxiliary wheel bearing (307); There are two auxiliary obstacle-crossing wheel foot servos (301), which are symmetrically mounted inside the auxiliary wheel moving housing (408) via an auxiliary first wheel foot connecting plate (302); opposite ends of each auxiliary first wheel foot connecting plate (302) are connected to an auxiliary third wheel foot connecting plate (304) via an auxiliary second wheel foot connecting plate (303); an auxiliary wheel bearing sleeve (305) is provided between two auxiliary third wheel foot connecting plates (304) directly below each auxiliary first wheel foot connecting plate (302); The auxiliary wheel (306) is installed between two auxiliary wheel bearing sleeves (305) of the suspension adjustment assembly on the corresponding side via an auxiliary wheel bearing (307).

7. A method for an on-line mechanism of an overhead transmission line acceptance robot, applied to the on-line mechanism described in any one of claims 1 to 6, characterized in that: The rotating wheel (110) and the two auxiliary wheels (306) are equivalent to the six wheel feet of the acceptance robot. The online method comprises the following steps: When the thread-up mechanism is in an initial state, the rotors (101) are located on both sides of the connecting frame, and the rotating wheel (110) is located below the connecting frame; The fine-tuning rotary motor in the rotor wheel foot device (1) drives the connecting bracket to rotate, and each rotor (101) is rotated from an initial position to the top of the connecting frame, and each rotating wheel (110) is rotated from an initial position to both sides of the connecting frame; the rotor motor (103) in the rotor wheel foot device (1) drives each rotor (101) to rotate, and the line-up mechanism takes off; When the flight reaches a preset height, the fine-tuning rotary motor drives the connecting bracket to rotate in the opposite direction, thereby resetting the rotor (101) and the rotating wheel (110), and the driving assembly adjusts the auxiliary wheel moving housing (408) to translate on the connecting frame, and adjusts the distance between the two connecting frames so that each rotating wheel (110) is placed on a pair of parallel overhead transmission lines; The acceptance robot walks on the overhead transmission line via four rotating wheels (110) to perform inspection work.

8. The method for an on-line mechanism of an overhead power transmission line acceptance robot according to claim 7, characterized in that: If you encounter an obstacle during walking, perform the following obstacle-crossing process: The two rotating wheels (110) in the front row in the walking direction are retracted under the action of the fine-tuning rotary motor, and the two auxiliary wheels (306) are lowered under the drive of the auxiliary obstacle-crossing wheel foot steering gear (301), and the acceptance robot continues to walk until the two rotating wheels (110) in the front row cross the obstacle; The two rotating wheels (110) in the front row are driven to be lowered, and the two auxiliary wheels (306) are driven to be retracted, and the acceptance robot continues to walk until the two auxiliary wheels (306) pass over the obstacle; The two rotating wheels (110) in the last row are retracted under the action of the fine-tuning rotary motor, and the two auxiliary wheels (306) are lowered under the drive of the auxiliary obstacle-crossing wheel foot steering gear (301), and the acceptance robot continues to walk until the two rotating wheels (110) in the last row cross the obstacle.

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