Power transmission cable robot platform

Abstract

The invention discloses a power transmission cable robot platform, and belongs to the field of power equipment. The power transmission cable robot platform comprises a lower driving wheel and a supporting pipe, and further comprises a driving connecting unit arranged between the lower driving wheel and the supporting pipe and used for connecting the lower driving wheel with the supporting pipe and driving the lower driving wheel to rotate; the upper driving unit is arranged at the end, away from the lower driving wheel, of the supporting pipe, and the equipment stably walks through the lower driving wheel and the upper driving unit; the stabilizing mechanism is arranged on the supporting pipe, an inspection unit is arranged on the stabilizing mechanism, the stabilizing mechanism can adjust the distance between the inspection unit and the cable, and the inspection unit is used for inspecting the cable; the problems that an inspection robot is poor in inspection obstacle crossing function, low in inspection efficiency, low in applicability, poor in stability and large in potential safety hazard can be solved.

Description

Technical Field

[0001] The present invention relates to the field of electric power equipment, and in particular to a power transmission cable robot platform. Background Art

[0002] With the development of robotics technology, power special robots have become a research hotspot in the field of special robots. Traditional inspection methods generally adopt manual inspection and manual recording, which requires staff to inspect each tower. This method is time-consuming and labor-intensive, and is affected by the harsh natural environment, with difficult working conditions, long inspection cycles, and low efficiency. At the same time, manual climbing of towers and online inspections pose safety hazards to staff. Line inspection robots can replace manual inspections, improve efficiency and detection accuracy, reduce costs, greatly improve operational safety, and thus realize the full automation of high-voltage line inspections. Therefore, it is of great significance to propose a new type of transmission cable robot platform. However, there are some problems with existing line inspection robots in actual use:

[0003] 1. In order to achieve functions such as fixing and protecting wires and avoiding vibration, anti-vibration hammers, tension clamps, and suspension clamps have become indispensable devices on the line. These indispensable devices have become typical obstacles on the transmission line. However, the existing line inspection robots have poor obstacle crossing functions and cannot cross obstacles well by themselves, which affects the inspection efficiency.

[0004] 2. In high-voltage transmission lines, different locations have different electrical performance requirements and need to adapt to the needs of transmitting different voltages and currents. Therefore, the thickness of cables at different locations is also different. However, existing line inspection robots are only suitable for walking on cables with consistent thickness. When the thickness of the cable changes, it cannot complete the clamping operation with the cable well, so that the normal inspection work is affected;

[0005] 3. The height of high-voltage transmission lines is generally more than ten meters, and the wind is often very strong. The connection method between the existing line inspection robots and the cables is simple and the fixing effect is poor, which leads to weak ability to resist crosswinds and poor stability. It is very easy to shake violently or even fall due to wind, which not only easily causes interruption of the inspection process and data errors, but also poses a safety hazard. Summary of the invention

[0006] The purpose of the present invention is to solve the problems in the prior art and to propose a power transmission cable robot platform.

[0007] In order to achieve the above object, the present invention adopts the following technical solutions:

[0008] A power transmission cable robot platform comprises a lower drive wheel and a support tube, and further comprises: a drive connection unit arranged between the lower drive wheel and the support tube, used to connect the lower drive wheel to the support tube and drive the lower drive wheel to rotate; an upper drive unit arranged at an end of the support tube away from the lower drive wheel, and the equipment is made to walk stably through the lower drive wheel and the upper drive unit; a stabilizing mechanism arranged on the support tube, wherein the stabilizing mechanism is provided with an inspection unit, the stabilizing mechanism can adjust the distance between the inspection unit and the cable, the inspection unit is used to inspect the cable, wherein the inspection unit is provided with a power obstacle clearing module, a cable stripping module, a bare wire rubber coating module, and a cable cleaning module.

[0009] In order to facilitate the inspection robot to walk stably, preferably, the drive connection unit includes a micromotor seat and a curved support rod, the micromotor seat is embedded on the inner side of the lower drive wheel, and the curved support rod is connected between the micromotor seat and the support tube, wherein the lower drive wheel is provided with four groups and is symmetrically arranged, and a power supply electrically connected to the micromotor seat is provided inside the support tube.

[0010] In order to facilitate the adjustment of the distance between devices according to the height difference between the cables and improve the applicability of the equipment, the upper drive unit further includes a universal joint arranged at one end of the support tube away from the lower drive wheel, and an upper drive wheel is arranged between adjacent universal joints, and the upper drive wheel is located above between the lower drive wheels on both sides.

[0011] In order to improve the stability of the equipment and facilitate the adjustment of the height of the fixed platform, the stabilizing mechanism further includes a circular ring rod clamp and a main support rod clamp, and the circular ring rod clamp and the main support rod clamp are both arranged on the support tube, and a transverse connecting rod is connected between the circular ring rod clamp and the main support rod clamp on the same side, and two groups of three-way connecting parts are arranged on the transverse connecting rod, and an oblique support rod is connected between the two groups of three-way connecting parts adjacent to each other on the same side.

[0012] In order to facilitate the inspection of cables and to increase the functions of the inspection robot, the inspection unit further includes a bracket, on which a plurality of groups of straight pipe clamps are fixedly connected, and the straight pipe clamps are sleeved on the upper transverse connecting rods, and a fixed platform is fixedly connected to the bracket, and a plurality of groups of four-way connecting members are sleeved on the upper part of the bracket, and oblique connecting rods are connected between adjacent four-way connecting members, and an inspection camera is arranged on the fixed platform.

[0013] In order to improve the obstacle-crossing function and applicability of the inspection robot, as well as its stability, further, the surfaces of the lower drive wheel and the upper drive wheel are both concave-convex, and the middle position of the lower drive wheel and the upper drive wheel is inclined concave, which is used for positioning the equipment through cables when it is walking.

[0014] In order to facilitate the clearing of obstacles during the inspection process, the power obstacle clearing module further includes a mounting base fixedly connected to a fixed platform, the mounting base is fixedly connected to a mechanical base, the mechanical base is provided with a control base, the control base is rotatably connected to a mechanical arm, the end of the mechanical arm away from the control base is rotatably connected to a connecting arm, the end of the connecting arm away from the mechanical arm is rotatably connected to a mechanical wrist, and the end of the mechanical wrist away from the connecting arm is rotatably connected to a gripper.

[0015] In order to facilitate the stripping and repair of the insulation layer of the damaged cable, the cable stripping module further includes a driving device fixedly connected to the fixed platform on the side close to the cable, the driving device is provided with a fixed disk along the direction of the cable, the fixed disk is provided with an internal gear ring on the side away from the driving device, the fixed disk is rotatably connected to a fixed frame on the side away from the driving device, a stripping disk is provided between the fixed disk and the fixed frame, wherein the stripping disk is meshed with the internal gear ring, the fixed frame and the axis of the fixed disk are located on the same straight line and are connected to the output end of the driving device, and the bare wire rubber coating module is provided on the side of the driving device away from the fixed disk.

[0016] To facilitate the cleaning of the cable, the cable cleaning module further includes a cleaning box fixedly connected to a fixed platform, a water pump connected to the cleaning box is fixedly connected to the fixed platform, the outlet end of the water pump is connected to a water pipe, the end of the water pipe away from the water pump is connected to a water divider, two groups of fixed plates are connected to the water divider, and cleaning rollers are rotatably connected to the fixed plates, wherein the water divider is connected to the axial position of the cleaning roller, and the distance between the two groups of cleaning rollers matches the size of the cable.

[0017] Compared with the prior art, the present invention provides a transmission cable robot platform, which has the following beneficial effects:

[0018] 1. The transmission cable robot platform can continuously generate sufficient power through two sets of lower drive wheels and upper drive wheels and drive connection units, so that the equipment can move normally along the cable, thereby ensuring that normal inspection work can be completed. At the same time, when encountering obstacles such as shock-absorbing hammers, tension clamps, and suspension clamps, the two sets can be alternately lifted and continue to move forward at the same time, thereby effectively improving the obstacle crossing function and ensuring that obstacles can be crossed automatically and quickly, thereby avoiding affecting the inspection efficiency.

[0019] 2. The transmission cable robot platform, through the concave-convex design of the upper drive wheel and the lower drive wheel, can hold the cable well during the inspection process, and can expand and close in real time as the cable diameter changes, thereby ensuring that the cable can always be held tightly during the inspection process, ensuring that it can adapt well to changes in the thickness of the cable, thereby ensuring normal inspection work and preventing the inspection from being affected; at the same time, the upper drive wheel and the lower drive wheel keep the equipment in close contact with the cable at all times, thereby improving the fixing effect and increasing stability.

[0020] 3. The transmission cable robot platform can further improve its stability through the stabilization unit to prevent severe shaking or even falling that may affect the inspection effect, while avoiding safety hazards and ensuring the stability of the image and data transmission during the inspection. In addition, the directional shooting mechanism can always face the cable to shoot its real-time status, thereby ensuring that the best shooting angle is always maintained during the inspection process, thereby ensuring the inspection effect.

[0021] 4. The transmission cable robot platform, through the power obstacle removal module, cable stripping module, bare wire rubber wrapping module and cable cleaning module on the fixed platform, can perform power obstacle removal, cable stripping, bare wire rubber wrapping, cable cleaning and other operations during the inspection process, making the functions more abundant, thereby comprehensively improving the inspection effect and providing strong guarantee for the normal operation of the transmission line.

[0022] The parts not involved in the device are the same as the existing technology or can be implemented by using the existing technology. The present invention can overcome the problems of poor inspection obstacle crossing function, low inspection efficiency, low applicability, poor stability and greater safety hazards of the inspection robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a structural schematic diagram of a power transmission cable robot platform proposed in the present invention.

[0024] Figure 2 A schematic diagram of the partial structure of a power transmission cable robot platform proposed by the present invention Figure 1 .

[0025] Figure 3 This is a schematic diagram of the main partial structure of a power transmission cable robot platform proposed in the present invention.

[0026] Figure 4 A schematic diagram of the partial structure of a power transmission cable robot platform proposed by the present invention Figure 2 .

[0027] Figure 5 This is a schematic structural diagram of a warning light in a power transmission cable robot platform proposed by the present invention.

[0028] Figure 6 This is a structural schematic diagram of a power obstacle clearing module in a power transmission cable robot platform proposed by the present invention.

[0029] Figure 7 This is a schematic structural diagram of a cable stripping module in a power transmission cable robot platform proposed by the present invention.

[0030] Figure 8 This is a schematic structural diagram of a cable cleaning module in a power transmission cable robot platform proposed by the present invention.

[0031] In the figure: 1. lower driving wheel; 2. micromotor seat; 3. bent support rod; 4. circular rod clamp; 5. support tube; 6. main support rod clamp; 7. transverse connecting rod; 8. three-way connecting piece; 9. oblique supporting rod; 10. universal joint; 11. upper driving wheel; 12. straight pipe clamp; 13. bracket; 14. fixed platform; 15. four-way connecting piece; 16. oblique connecting rod; 17. inspection camera; 18. lamp holder; 19. lamp cover; 20. mounting seat; 21. mechanical seat; 22. control seat; 23. mechanical arm; 24. connecting arm; 25. mechanical wrist; 26. gripper; 27. driving device; 28. fixed plate; 29. ​​inner gear ring; 30. fixed frame; 31. stripping plate; 32. cleaning box; 33. water pump; 34. water pipe; 35. water distributor; 36. fixing plate; 37. cleaning roller. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0033] 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.

[0034] Example:

[0035] Reference Figure 1-Figure 8A power transmission cable robot platform includes a lower driving wheel 1 and a support tube 5, and also includes: a driving connection unit arranged between the lower driving wheel 1 and the support tube 5, used to connect the lower driving wheel 1 with the support tube 5 and drive the lower driving wheel 1 to rotate; an upper driving unit arranged at the end of the support tube 5 away from the lower driving wheel 1, and the equipment is stably walked through the lower driving wheel 1 and the upper driving unit; a stabilizing mechanism arranged on the support tube 5, and an inspection unit is arranged on the stabilizing mechanism. The stabilizing mechanism can adjust the distance between the inspection unit and the cable, and the inspection unit is used to inspect the cable, wherein the inspection unit is provided with a power obstacle clearing module, a cable stripping module, a bare wire rubber coating module, and a cable cleaning module.

[0036] Reference Figure 1-Figure 3 The drive connection unit includes a micromotor seat 2 and a curved support rod 3. The micromotor seat 2 is embedded on the inner side of the lower drive wheel 1. The curved support rod 3 is connected between the micromotor seat 2 and the support tube 5. The lower drive wheel 1 is provided with four groups and is symmetrically arranged. A power supply electrically connected to the micromotor seat 2 is provided inside the support tube 5.

[0037] The micromotor seat 2 is equipped with a CyberGear micromotor drive transmission. The hollow design of the support tube 5 allows the driving power supply to be built into the support tube 5. On the one hand, it can improve the protection of the unit, and on the other hand, it can reduce the space occupied by the power supply. Through the synchronous rotation of multiple sets of lower drive wheels 1, sufficient power can be provided to support the equipment to crawl on the cable and perform obstacle-crossing movements.

[0038] Reference Figure 2-Figure 3 The upper driving unit includes a universal joint 10 arranged at one end of the support tube 5 away from the lower driving wheel 1, and an upper driving wheel 11 is arranged between adjacent universal joints 10. The upper driving wheel 11 is located above between the lower driving wheels 1 on both sides. The surfaces of the lower driving wheel 1 and the upper driving wheel 11 are both concave and convex, and the middle position of the lower driving wheel 1 and the upper driving wheel 11 is inclined and concave, which is used for positioning the equipment through cables when it is moving.

[0039] It needs to be explained that usually the height difference between three-phase electricity of different voltages or cables in different regions is different. The universal joint 10 can automatically adjust the distance between the upper drive wheel 11 and the lower drive wheel 1 to match the height difference between the cables, thereby improving the stability of the equipment crawling, and when encountering strong winds and the like, it can be adjusted synchronously according to the change in wind direction, and the center of gravity of the equipment can be changed in real time to further improve the stability of the equipment. In addition, the new design of the lower drive wheel 1 and the upper drive wheel 11 can better hold the cable, so that the equipment can always hold the cable during inspection, and can automatically expand or close as the cable diameter changes, which is suitable for cables of different thicknesses. At the same time, it can effectively improve the obstacle crossing function, ensure normal inspection work, and improve the stability of the equipment during walking.

[0040] Reference Figure 1 The stabilizing mechanism includes a circular rod clamp 4 and a main support rod clamp 6. The circular rod clamp 4 and the main support rod clamp 6 are both arranged on the support tube 5. A transverse connecting rod 7 is connected between the circular rod clamp 4 and the main support rod clamp 6 on the same side. Two groups of three-way connecting members 8 are arranged on the transverse connecting rod 7. An oblique support rod 9 is connected between the two groups of three-way connecting members 8 adjacent to each other on the same side.

[0041] It needs to be explained that the circular rod clamp 4 and the main support rod clamp 6 are connected to the support tube 5 by a sleeve connection, and the circular rod clamp 4 and the main support rod clamp 6 can be moved on the support tube 5 and fixed by bolts, etc., and the distance between the fixed platform 14 and the cable can be adjusted by adjusting the position of the circular rod clamp 4 and the main support rod clamp 6 on the support tube 5, so as to realize the functions of cable power clearance, cable stripping, bare wire rubber wrapping, cable cleaning, etc.

[0042] Reference Figure 1 , Figure 4 and Figure 5 The inspection unit includes a bracket 13, on which a plurality of straight pipe clamps 12 are fixedly connected, and the straight pipe clamps 12 are sleeved on the upper transverse connecting rod 7. A fixed platform 14 is fixedly connected to the bracket 13, and a plurality of four-way connecting members 15 are sleeved on the upper part of the bracket 13. An oblique connecting rod 16 is connected between adjacent four-way connecting members 15. An inspection camera 17 is arranged on the fixed platform 14. A warning light is also arranged on the fixed platform 14. The warning light includes a lamp holder 18 and a lamp cover 19, and is electrically connected to the inspection camera 17.

[0043] The inspection camera 17 adopts Yunzhuo's 23x zoom three-axis night vision gimbal, and is also equipped with laser radar, infrared equipment, etc., which can realize multi-angle adjustment, so that the equipment can realize detection without blind spots, greatly improving the efficiency and accuracy of inspection. The specific structure can refer to the technical solutions in the prior art. Those skilled in the art can know it and will not go into details here. There are multiple groups of installation positions on the fixed platform 14, and each component of the fixed platform 14 can be disassembled to improve the function of the equipment and comprehensively improve the inspection results of the cable, thereby providing strong guarantee for the normal operation of the transmission line. It needs to be explained that the equipment is also equipped with a GPS signal receiver, which can realize map positioning and determine the position of the robot in real time.

[0044] Reference Figure 6The power obstacle clearing module includes a mounting base 20 fixedly connected to a fixed platform 14, a mechanical base 21 fixedly connected to the mounting base 20, a control base 22 provided on the mechanical base 21, a mechanical arm 23 rotatably connected to the control base 22, an end of the mechanical arm 23 away from the control base 22 is rotatably connected to a connecting arm 24, an end of the connecting arm 24 away from the mechanical arm 23 is rotatably connected to a mechanical wrist 25, and an end of the mechanical wrist 25 away from the connecting arm 24 is rotatably connected to a gripper 26.

[0045] During the inspection process, when the inspection camera 17 finds an obstacle in front of the movement, it will transmit a signal to the control seat 22, and adjust the angle of the gripper 26 through the mechanical arm 23, the connecting arm 24 and the mechanical wrist 25. The distance between the grippers 26 can be adjusted according to the size of the obstacle so that they can firmly grasp the obstacle, and then move the obstacle to other positions through the mechanical arm 23, the connecting arm 24 and the mechanical wrist 25. The mechanical arm 23, the connecting arm 24 and the mechanical wrist 25 can all realize the telescopic function, and the mechanical seat 21 and the control seat 22 can realize rotation. This is a conventional means in the prior art, so it will not be elaborated.

[0046] Reference Figure 7 The cable stripping module includes a driving device 27 fixedly connected to a side of the fixed platform 14 close to the cable, the driving device 27 is provided with a fixed disk 28 along the direction of the cable, an inner gear ring 29 is provided on the side of the fixed disk 28 away from the driving device 27, a fixed frame 30 is rotatably connected to the side of the fixed disk 28 away from the driving device 27, a stripping disk 31 is provided between the fixed disk 28 and the fixed frame 30, wherein the stripping disk 31 is meshed with the inner gear ring 29, the axis of the fixed frame 30 and the fixed disk 28 are located on the same straight line, and are connected to the output end of the driving device 27, and the bare wire rubber coating module is provided on the side of the driving device 27 away from the fixed disk 28.

[0047] When the insulation layer is found to be damaged during the inspection, the stripping disc 31 can be driven to rotate by the driving device 27 to gradually strip the insulation layer of the cable, and the exposed part can be coated with rubber by the bare wire coating module. The working principle of the stripping disc 31 can refer to the working process of the pencil sharpener in the prior art, and can achieve fixed-point stripping and accurately strip the cable at the damaged position. The bare wire coating module is a conventional means in the prior art, so it is not described in detail.

[0048] Reference Figure 8The cable cleaning module includes a cleaning box 32 fixedly connected to a fixed platform 14, a water pump 33 connected to the cleaning box 32 is fixedly connected to the fixed platform 14, the outlet end of the water pump 33 is connected to a water pipe 34, the end of the water pipe 34 away from the water pump 33 is connected to a water divider 35, two groups of fixed plates 36 are connected to the water divider 35, and a cleaning roller 37 is rotatably connected to the fixed plate 36, wherein the water divider 35 is connected to the axial position of the cleaning roller 37, and the distance between the two groups of cleaning rollers 37 matches the size of the cable.

[0049] During the inspection process, if it is found that there is a lot of dust on the surface of the cable, the water pump 33 can be started to pump the cleaning agent in the cleaning box 32 into the water pipe 34 and enter the cleaning roller 37 through the water distributor 35. It should be explained that a motor for driving the cleaning roller 37 to rotate is provided on the fixed plate 36, so that the cleaning roller 37 cleans the cable while rotating, thereby improving the cleaning effect of the cable. A plurality of groups of brushes are provided on the surface of the cleaning roller 37. After the cleaning agent flows onto the cable, the cable is cleaned by the brushes. Among them, a replenishing port is provided on the cleaning box 32 for replenishing the cleaning agent into the cleaning box 32. This is an existing Conventional means in technology, so I will not elaborate on them. This application has the functions of cable inspection and cable maintenance, and can identify abnormal conditions such as broken wires, lightning strikes, insulator self-explosion, tower tilt, bird nests, etc. through the inspection camera carried by the work platform; it can perform high-precision distance positioning through the drive wheel, assisted by GPS to locate the fault point; the robot platform can independently process data and perform background auxiliary processing, and conduct human-computer interaction with ground inspection personnel, and the multi-functional work platform can perform cable maintenance on the cable; the robot platform adopts remote wireless monitoring and control, can autonomously climb and overcome obstacles, and carry various detection and maintenance equipment to complete various detection and maintenance tasks. The power transmission cable robot platform of the present invention integrates multiple technologies, thereby solving the bottleneck of the single function of the line inspection robot and the difficulty in applying it to actual detection, and deepening the application of robot technology in power inspection work.

[0050] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A power transmission cable robot platform, comprising a lower drive wheel (1) and a support tube (5), characterized in that: Also includes: A driving connection unit disposed between the lower driving wheel (1) and the support tube (5), used to connect the lower driving wheel (1) and the support tube (5) and drive the lower driving wheel (1) to rotate; An upper drive unit is arranged at one end of the support tube (5) away from the lower drive wheel (1), and the device is stably moved through the lower drive wheel (1) and the upper drive unit; A stabilizing mechanism is arranged on the support tube (5), wherein a patrol unit is arranged on the stabilizing mechanism, wherein the stabilizing mechanism is capable of adjusting the distance between the patrol unit and the cable, and the patrol unit is used to patrol the cable. Among them, the inspection unit is provided with a power troubleshooting module, a cable stripping module, a bare wire rubber coating module, and a cable cleaning module.

2. A power transmission cable robot platform according to claim 1, characterized in that: The drive connection unit comprises a micromotor seat (2) and a curved support rod (3), wherein the micromotor seat (2) is embedded on the inner side of the lower drive wheel (1), and the curved support rod (3) is connected between the micromotor seat (2) and the support tube (5). There are four groups of lower drive wheels (1) arranged symmetrically, and a power source electrically connected to the micro-motor seat (2) is arranged inside the support tube (5).

3. A power transmission cable robot platform according to claim 2, characterized in that: The upper drive unit comprises a universal joint (10) arranged at one end of the support tube (5) away from the lower drive wheel (1), an upper drive wheel (11) is arranged between adjacent universal joints (10), and the upper drive wheel (11) is located above between the lower drive wheels (1) on both sides.

4. A power transmission cable robot platform according to claim 2, characterized in that: The stabilizing mechanism comprises a circular rod clamp (4) and a main support rod clamp (6); the circular rod clamp (4) and the main support rod clamp (6) are both arranged on a support tube (5); a transverse connecting rod (7) is connected between the circular rod clamp (4) and the main support rod clamp (6) on the same side; two groups of three-way connecting members (8) are arranged on the transverse connecting rod (7); and an oblique support rod (9) is connected between two groups of three-way connecting members (8) adjacent to each other on the same side.

5. A power transmission cable robot platform according to claim 4, characterized in that: The inspection unit comprises a bracket (13), a plurality of groups of straight pipe clamps (12) are fixedly connected to the bracket (13), the straight pipe clamps (12) are sleeved on the upper transverse connecting rod (7), a fixed platform (14) is fixedly connected to the bracket (13), a plurality of groups of four-way connecting members (15) are sleeved on the upper part of the bracket (13), oblique connecting rods (16) are connected between adjacent four-way connecting members (15), and an inspection camera (17) is arranged on the fixed platform (14).

6. A power transmission cable robot platform according to claim 3, characterized in that: The surfaces of the lower drive wheel (1) and the upper drive wheel (11) are both concave and convex, and the middle position of the lower drive wheel (1) and the upper drive wheel (11) is inclined and concave, which is used for positioning the equipment through cables when the equipment is moving.

7. The power transmission cable robot platform according to claim 5, characterized in that: The electric obstacle clearing module comprises a mounting seat (20) fixedly connected to a fixed platform (14); a mechanical seat (21) is fixedly connected to the mounting seat (20); a control seat (22) is arranged on the mechanical seat (21); a mechanical arm (23) is rotatably connected to the control seat (22); an end of the mechanical arm (23) away from the control seat (22) is rotatably connected to a connecting arm (24); an end of the connecting arm (24) away from the mechanical arm (23) is rotatably connected to a mechanical wrist (25); and an end of the mechanical wrist (25) away from the connecting arm (24) is rotatably connected to a gripper (26).

8. The power transmission cable robot platform according to claim 5, characterized in that: The cable stripping module comprises a driving device (27) fixedly connected to a fixed platform (14) on a side close to the cable, the driving device (27) is provided with a fixed disk (28) along the direction of the cable, an inner gear ring (29) is provided on a side of the fixed disk (28) away from the driving device (27), a fixed frame (30) is rotatably connected to a side of the fixed disk (28) away from the driving device (27), and a stripping disk (31) is provided between the fixed disk (28) and the fixed frame (30). The stripping disc (31) is meshed with the inner gear ring (29), the axis of the fixing frame (30) and the fixing disc (28) are located on the same straight line and are connected to the output end of the driving device (27), and the bare wire rubber-coated module is arranged on a side of the driving device (27) away from the fixing disc (28).

9. The power transmission cable robot platform according to claim 5, characterized in that: The cable cleaning module comprises a cleaning box (32) fixedly connected to a fixed platform (14); a water pump (33) connected to the cleaning box (32) is fixedly connected to the fixed platform (14); an outlet end of the water pump (33) is connected to a water pipe (34); an end of the water pipe (34) away from the water pump (33) is connected to a water distributor (35); two sets of fixed plates (36) are connected to the water distributor (35); a cleaning roller (37) is rotatably connected to the fixed plate (36); The water divider (35) is connected to the axial position of the cleaning roller (37), and the distance between the two groups of cleaning rollers (37) matches the size of the cable.

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