Power transmission line ground wire connecting and hanging device based on bionic bird

Abstract

The invention is suitable for the technical field of bionic robots, and provides a bionic bird-based power transmission line ground wire connecting and hanging device, which comprises an unmanned aerial vehicle, a ground wire clamping mechanism, a bionic leg mechanism and an under-actuated grabber. The device is mainly used for ground wire hanging operation of a power transmission line, the ground wire clamping mechanism clamps a ground wire, the ground wire is connected with the under-actuated grabber through a ground wire hook, the other end of the ground wire is grounded, the unmanned aerial vehicle conveys the device to a preset operation position, stable landing of the unmanned aerial vehicle is achieved through the bionic leg mechanism, and the under-actuated grabber grabs the power transmission line. And hovering of the device on the power transmission line is realized by using a passive inhabiting mechanism in the design, so that hanging of the ground wire is completed. And the ground wire can be removed only by flying the unmanned aerial vehicle away from an operation position. According to the invention, the line operation inspection efficiency is improved, the demand of human resources is reduced, and the problems of high labor intensity, high danger coefficient, long consumed working hours, low intelligent degree, tedious and inconvenient operation and insufficient resources can be effectively solved.

Description

Technical Field

[0001] The invention belongs to the technical field of bionic robots, and in particular relates to a ground wire connection device for power transmission lines based on a bionic bird. Background Art

[0002] The operation of hanging and connecting the ground wire is a key link in the power outage maintenance operation and a necessary measure to ensure the life safety of the operators. Testing electricity is the first step in the operation of hanging and connecting the ground wire. The management method of the contact network power testing and grounding operation stipulates that this link must be performed by a special supervisor. The ground wire supervisor and the operator of the hanging and connecting ground wire are responsible for the hanging and removing of the ground wire. However, this operation process is labor-intensive, and the hanging and removing of the ground wire are frequent, which takes a long time for maintenance. In addition, there are a series of safety hazards or accidents in the operation of hanging and connecting the ground wire, such as hanging the ground wire without testing electricity, unreliable hanging of the ground wire, missing hanging, wrong hanging, etc. In the power outage maintenance operation of the transmission line, the traditional method of manually climbing the tower to install the ground wire has exacerbated these challenges. This process is labor-intensive, has a high risk factor, consumes a long time, has a low degree of intelligence, and is cumbersome and inconvenient to operate. There are also many problems with traditional ground wires, which have seriously threatened the life safety of maintenance personnel and caused many inconveniences to the development of daily maintenance work.

[0003] Drones are low-cost, relatively simple to maintain, and have good maneuverability. As drone technology matures, the use of drones to hang ground wires can replace manual hanging of ground wires during overhead line power outages and maintenance. Using drones to hang ground wires is a new research direction to reduce work intensity, improve work efficiency, and ensure safe operation. Intelligent drones need to achieve fixed-point operations in the future research and development process. Studying how to safely and reliably carry various types of robotic arms on drone platforms is one direction to achieve fixed-point operations of drones. Although flying robots (including drones and robotic arms) are becoming more and more common in various applications, flying robots consume a lot of electricity, and onboard energy resources are limited, which makes hovering an inefficient way of working. For this reason, a transmission line ground wire hanging device based on a bionic bird is proposed. Summary of the invention

[0004] The purpose of the present invention is to provide a power transmission line ground wire connection device based on a bionic bird, aiming to solve the problems raised in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A power transmission line ground wire connection device based on a bionic bird, comprising an unmanned aerial vehicle, a ground wire clamping mechanism, a bionic leg mechanism and an underactuated gripper; the unmanned aerial vehicle is used as a carrying body; the ground wire clamping mechanism is arranged at the lower part of the unmanned aerial vehicle in a rigid connection manner; two bionic leg mechanisms are installed on both sides of the ground wire clamping mechanism, and are arranged at the lower side of the unmanned aerial vehicle in a rigid connection manner; the underactuated gripper is arranged at the lower side of the bionic leg mechanism in a rigid connection manner, and a ground wire hook is arranged between the two underactuated grippers as a ground wire installation position; one end of the ground wire is installed on the ground wire hook, passes through the ground wire clamping mechanism and is clamped, and the other end is connected to the ground;

[0007] The ground wire clamping mechanism includes a U-shaped plate, a wire rope clamp and an adjusting bolt; the U-shaped plate is rigidly connected to the drone, and the adjusting bolt clamps the ground wire by cooperating with the wire rope clamp;

[0008] The bionic leg mechanism comprises an upper leg platform, a winch on the leg platform, a six-bar mechanism, a lower side winch, a spring 1, a spring 2 and a lower leg platform; the winch on the leg platform is installed inside the upper leg platform and is coaxially connected with a bearing; the six-bar mechanism comprises a rod 1, a rod 2, a rod 3, a rod 4, a rod 5, a rod 6 and a triangular piece; both ends of the rod 2 and the rod 3 are respectively connected to the rod 1 and the rod 4; one end of the rod 4, the rod 5 and the rod 6 are respectively connected to the triangular piece, and the other end is respectively connected to the upper leg platform, the proximal end of the winch on the leg platform and the distal end of the winch on the leg platform; the lower side winch is installed at the end of the rod 2 in a rigid connection manner; the spring 1 connects the winch on the leg platform and the triangular piece; the spring 2 connects the lower side winch and the lower leg platform; the lower leg platform is connected to the rod 1 through a pin joint;

[0009] The underactuated gripper comprises an upper platform, a lower platform, a side connecting rod, an upper side rod and a toe plate; the upper platform is rigidly connected to the lower platform of the leg; the lower platform is arranged below the upper platform, and the lower platform and the upper platform are arranged in parallel; the side connecting rod connects the upper platform and the lower platform through a pin joint, the upper side rod connects the upper platform and the toe plate through a pin joint, and the two toe plates are arranged on both sides of the lower platform through a pin joint.

[0010] Furthermore, the end of the wire rope clamp is threaded and passes through the U-shaped plate, and the adjusting bolt clamps the ground wire by cooperating with the thread of the end of the wire rope clamp.

[0011] Furthermore, the rod five is a hollow structure in the middle.

[0012] Furthermore, the spring 1 arranged between the winch of the upper platform of the leg and the triangle member, and the spring 2 arranged between the lower winch and the lower platform of the leg are both connected by steel wire ropes.

[0013] Furthermore, the bearing matched with the leg upper platform winch arranged inside the leg upper platform is an air bearing.

[0014] Furthermore, the connections in the six-bar mechanism are all connected through pin joints.

[0015] Furthermore, the inner side of the toe plate is coated with Mold Max 40 coating.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] The present invention proposes a bio-inspired solution, which aims to improve the efficiency of line operation and inspection, reduce the demand for human resources, and effectively solve the problems of high labor intensity, high risk factor, long working hours, low intelligence, cumbersome and inconvenient operation and insufficient resources. The core of the invention is to design a device that can achieve passive hovering on the surface of a cylindrical object. The device combines the design concept of under-actuated grasping technology and bionic leg mechanism, and is inspired by the flight and perching mechanism of birds. Specifically: the device abandons the traditional motor drive method and uses the weight of the drone as the power source to achieve a novel passive hovering technology. The core of the device consists of an under-actuated gripper and a bionic leg mechanism. The under-actuated gripper is responsible for grasping and the bionic leg mechanism is responsible for driving. The design of the under-actuated gripper only requires a driving force from the bionic leg mechanism to work. The bionic leg mechanism converts the vertical movement of the drone into angular displacement, thereby driving the gripper to complete the grasping action without the need for additional energy input. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0019] Figure 2 Schematic diagram of the structure of the ground wire clamping mechanism in the present invention; (a) is a three-dimensional diagram of the ground wire clamping mechanism, and (b) is a plan view of the ground wire clamping mechanism.

[0020] Figure 3 Schematic diagram of the structure of the bionic leg mechanism of the present invention; wherein (a) is a stereoscopic diagram of the bionic leg mechanism, and (b) is an exploded perspective diagram of area A in part (a).

[0021] Figure 4 Schematic diagram of the bionic leg mechanism of the present invention; (a) shows the bionic leg mechanism performing a stretching action, (b) shows the bionic leg mechanism performing a squatting action, and (c) is a schematic diagram of the bionic leg mechanism.

[0022] Figure 5 It is a schematic diagram of the structure of the underactuated gripper in the present invention.

[0023] Figure 6 Schematic diagram of the underactuated gripper of the present invention.

[0024] In the figure: drone 11000, ground wire clamping mechanism 12000, U-shaped plate 12100, wire rope clamp 12200, adjusting bolt 12300, bionic leg mechanism 13000, leg upper platform 13100, leg upper platform winch 13200, six-bar mechanism 13300, rod one 13310, rod two 13320, rod three 13330, rod four 13340, rod five 13350, rod six 13360, triangle 13370, lower side winch 13400, spring one 13500, spring two 13600, leg lower platform 13700, underactuated gripper 14000, upper platform 14100, lower platform 14200, side connecting rod 14300, upper side rod 14400, toe plate 14500, Mold Max 40 coating 14600, ground wire 15000, ground wire hook 16000. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0026] The specific implementation of the present invention is described in detail below in conjunction with specific embodiments.

[0027] like Figure 1-6 As shown, a transmission line ground wire connection device based on a bionic bird is provided in one embodiment of the present invention, comprising an unmanned aerial vehicle 11000, a ground wire clamping mechanism 12000, a bionic leg mechanism 13000 and an underactuated gripper 14000; the unmanned aerial vehicle 11000 is used as a carrying body, and the mass of the ground wire 15000 is concentrated on the unmanned aerial vehicle 11000 on which the ground wire clamping mechanism 12000 is installed instead of the bionic leg mechanism 13000 or the underactuated gripper 14000, thereby reducing the impact on the landing and hovering of the flying device; the ground wire clamping mechanism 12000 is arranged on the unmanned aerial vehicle 11000 by a rigid connection. 00 lower part; two bionic leg mechanisms 13000 are installed on both sides of the ground wire clamping mechanism 12000, and are arranged on the lower side of the drone 11000 by means of rigid connection; the under-actuated gripper 14000 is arranged on the lower side of the bionic leg mechanism 13000 by means of rigid connection, and a ground wire hook 16000 is provided between the two under-actuated grippers 14000 as the installation position of the ground wire 15000; one end of the ground wire 15000 is connected to the underground, and the other end of the ground wire 15000 is connected to the ground wire hook 16000 between the two under-actuated grippers 14000, and is clamped by the ground wire clamping mechanism 12000.

[0028] In the embodiment of the present invention, the specific working process is as follows: the ground wire clamping mechanism 12000 clamps the ground wire 15000, the ground wire 15000 is connected to the underactuated gripper 14000 through the ground wire hook 16000, the other end of the ground wire 15000 is grounded, the drone 11000 transports the device to the predetermined working position, and the drone 11000 is smoothly landed by the bionic leg mechanism 13000, while the underactuated gripper 14000 grasps the power transmission line, and the passive perching mechanism in the design is used to realize the hovering of the device on the power transmission line, thereby completing the hooking of the ground wire 15000. When the ground wire is removed, the drone 11000 can be realized by flying away from the working position.

[0029] like Figure 2 As shown, as a preferred embodiment of the present invention, the ground wire clamping mechanism 12000 includes a U-shaped plate 12100, a wire rope clamp 12200 and an adjusting bolt 12300. The U-shaped plate 12100 is rigidly connected to the drone 11000; the end of the wire rope clamp 12200 has a thread and passes through the U-shaped plate 12100, and the adjusting bolt 12300 clamps the ground wire 15000 by threading with the end of the wire rope clamp 12200.

[0030] In the embodiment of the present invention, the ground wire 15000 passes through the wire rope clamp 12200 , and the wire rope clamp 12200 is pressed against the ground wire 15000 by adjusting the bolt 12300 , so that the ground wire clamping mechanism 12000 clamps the ground wire 15000 .

[0031] like Figure 3 and Figure 4As shown, as a preferred embodiment of the present invention, the bionic leg mechanism 13000 includes a leg upper platform 13100, a leg upper platform winch 13200, a six-bar mechanism 13300, a lower side winch 13400, a spring 13500, a spring 2 13600 and a leg lower platform 13700. The leg upper platform winch 13200 is installed inside the leg upper platform 13100, and is coaxially connected with an air bearing. The six-bar mechanism 13300, which is inspired by birds and designed as the main body of the bionic leg mechanism 13000, can complete the squatting and stretching movements of the legs in biology. The connections in the six-bar mechanism 13300 are all connected by low-friction pin joints. By installing low-friction pin joints at each joint, it is ensured that the entire mechanism moves freely when moving up and down in the perch. The joints are also polished to minimize the friction caused by manufacturing defects. The six-bar mechanism 13300 includes a bar 13310, a bar 2 13320, a bar 3 13330, a bar 4 13340, a bar 5 13350, a bar 6 13360 and a triangular piece 13370; the two ends of the bar 2 13320 and the bar 3 13330 are connected to the bar 1 13310 and the bar 4 13340 respectively; one end of the bar 4 13340, the bar 5 13350 and the bar 6 13360 are connected to the triangular piece 13370, and the other ends are connected to the leg upper platform 13100, the proximal end of the leg upper platform winch 13200 and the distal end of the leg upper platform winch 13200 respectively. The leg upper platform winch 13200 cannot rotate autonomously, but can only rotate with the bar 5 13350 and the bar 6 13360. In order to allow the bars to cross, the bar 5 13350 adopts a hollow structure in the middle. The lower winch 13400 is installed at the end of the rod 13320 by a rigid connection, and cannot rotate independently, but can only rotate with the rod 13320. The spring 13500 connects the leg platform winch 13200 and the triangle 13370, and the spring 13600 connects the lower winch 13400 and the lower leg platform 13700. The spring 13500 arranged between the leg platform winch 13200 and the triangle 13370 and the spring 13600 arranged between the lower winch 13400 and the lower leg platform 13700 are connected by wire ropes. The lower leg platform 13700 is connected to the rod 13310 by a low friction pin joint. The underactuated gripper 14000 is arranged at the lower leg platform 13700 by a rigid connection.

[0032] In the embodiment of the present invention, the bionic leg mechanism 13000 is designed to be passively triggered. When the upper platform 13100 of the leg is impacted, that is, when the drone 11000 lands, the bionic leg mechanism 13000 completes the squatting action. When the squatting action is achieved, the upper platform winch 13200 and the lower winch 13400 rotate accordingly, and the tension spring 1 13500 and the second spring 13600 make the landing of the overall structure more stable and improve the shock absorption ability.

[0033] See also Figure 4 , the design method of the bionic leg mechanism 13000 will be analyzed in detail below. In order to design a passive perching mechanism, the present invention studies the space of planar linkage mechanisms with only rotational joints. In order to reduce weight and simplify the structure, avoid the use of sliders, cams and gears, and seek to determine the simplest linkage topology that can meet all constraints while leaving room for optimizing the design space. The contact of the lower platform 13700 of the leg with the six-bar mechanism 13300 is modeled as an asymmetric spring damper with a spring constant of 104N / m and a damping coefficient of 50Ns / m. Horizontal friction is modeled as an approximate stick-slip friction with a static friction coefficient of 0.5. The dry friction torque can be described by Equation 1:

[0034] Formula 1: τ F =C1τ sp +C2;

[0035] where τ sp is the applied torque, C1 = 0.045, C2 = 0.015 Nm. Considering the normal operation of the bionic leg mechanism (13000), the basic constraint is that the ground reaction force generated by the mechanism always passes through the center of mass of the system. This behavior can be specified in many ways; the present invention chooses the simplest case, that is, the leg moves in a straight line. This straight line passes through the center of mass of the leg upper platform 13100 connected to the six-bar mechanism 13300.

[0036] In order to further decouple the action of the mechanism from the rotational dynamics, the present invention stipulates that the angular momentum of the moving link is balanced. If this constraint is not met in a zero external torque environment, i.e. in the air, the robot body will rotate to a certain angle according to the extension angle of the legs. The objective function is constructed as shown in Formula 2:

[0037] Formula 2:

[0038] Among them, w pt and w ang They represent different weights, N is the number of samples in the general optimization problem, j is the jth sample, l represents the set, and the tilde represents the preset expected value. (x j ,y j ) is the unknown leg lower platform 13700 coordinate, ψ j is the winch angle. The objective function is the sum of the weighted squared differences between the expected values ​​and the actual constraint values ​​of these unknown quantities. The objective function aims to optimize the design variable d, which is a vector with 16 dimensions, including the coordinates of the link size and the platform 13700 under the leg in the reference configuration, ψ i is the configuration index of the set, and the optimization problem is shown in Formula 3:

[0039] Formula 3:

[0040] Where i is the i-th sample, subject is the constraint condition, set D is the equality and inequality constraints imposed on the design variable d, C j Construct the vector loop equation for each position j (design parameter d, unknown leg lower platform (13700) coordinates (x j ,y j ) and winch angle ψ j The constraints between , are used to obtain the design variable d.

[0041] like Figure 5 and Figure 6 As shown, as a preferred embodiment of the present invention, the underactuated gripper 14000 includes an upper platform 14100, a lower platform 14200, a side connecting rod 14300, an upper side rod 14400, a toe plate 14500 and a Mold Max 40 coating 14600; the upper platform 14100 is rigidly connected to the lower platform 13700 of the leg, the lower platform 14200 is arranged below the upper platform 14100, the side connecting rod 14300 connects the upper platform 14100 and the lower platform 14200 through a pin joint, the upper side rod 14400 connects the upper platform 14100 and the toe plate 14500 through a pin joint, and two toe plates 14500 are arranged on both sides of the lower platform 14200 through a pin joint; the Mold Max 40 coating 14600 is applied to the inner side of the toe plate 14500, and the Mold Max 40 Coating 14600 (PA material, a condensation-cured silicone rubber compound) can increase the friction between the device and the perch, increasing the stability of the hover. The specific application method is: apply it to the toe plate 14500 with a tool and let it fully cure before the first use. The toe plate 14500 is divided into an upper part and a lower part by the pin joint connecting it to the lower platform 14200.

[0042] In an embodiment of the present invention, the under-actuated gripper 14000 is designed to be passively triggered. When the upper platform 14100 is subjected to force, the downward translational motion of the upper platform 14100 is converted into angular motion of the side link 14300, the upper side rod 14400, and the toe plate 14500, so that the toe plate 14500 achieves gripping, and the force exerted on the upper platform 14100 is converted into gripping force; similarly, the upward translational motion of the upper platform 14100 is converted into a natural release grip.

[0043] See also Figure 6, showing the kinematic description of the suspension mechanism of the underactuated gripper 14000 in the present invention. This section will specifically analyze the geometric model, kinematic model and static model of the underactuated gripper 14000 to prove the feasibility. The landing force W of the flying device enables the mechanism to grasp a cylindrical suspension point (the grasped object, i.e., the perch) with a radius of r. The mechanism is symmetrical, with the upper platform 14100 and the lower platform 14200 remaining parallel. The pin joint is represented by a small circle. The mechanism is described by a set of constant geometric parameters: b, L, T, ψ, θ, h, T e ; b represents the length of the upper platform 14100 or the lower platform 14200; L represents the length of the upper side rod 14400 or the length of the upper part of the toe plate 14500. T represents the length of the lower part of the toe plate 14500. ψ represents the angle formed between the upper part of the toe plate 14500 and the lower part of the toe plate 14500 (on the outside, i.e., the side away from the pin joint connecting the two). θ represents the grip angle, which describes the angle between the upper side rod 14400 and the horizontal line and the angle between the upper part of the toe plate 14500 and the horizontal line; θ=0 and θ=π / 2 radians both correspond to switching positions in the mechanism, which should be avoided; θ is related to h through L and the cosine law. h represents the height, which defines the distance between the upper platform 14100 and the lower platform 14200. T e β represents the effective toe length, which describes the length from the pin joint where the toe plate 14500 connects to the lower platform 14200 to the point where the toe plate 14500 contacts the perch. To find the contact position of the toe plate 14500 with the perch, the toe contact angle β is defined.

[0044] Formula 4:

[0045] Where r is the perch (grasp) radius, α is the angle of the symmetrical half of the area between the toe plate 14500 and the lower platform 14200, β is the toe contact angle, and x β is the Cartesian position of the toe contact point x, y β is the Cartesian position of the toe contact point y. According to Equation 4, the equation for the toe contact angle β is a function of only one dimensionless variable.

[0046] Knowing the kinematic configuration of the passive perching mechanism, the force F1 and its Cartesian components between the upper platform 14100 and the side links 14300 can be solved as a function of the landing force W by performing a static force balance analysis on the upper platform 14100.

[0047] Formula 5:

[0048] Where θ is the grasping angle, s is the ratio of the perch size to the maximum perch size, and F 1，1 With F 1，2are the Cartesian x- and y-direction components of F1, F t is the force between the toe plate 14500 and the perch.

[0049] To find the compressive force F exerted by the lower platform 14200 on the perch b , static equilibrium analysis is performed on the lower platform 14200. Due to symmetry, the vertical force F b It must be evenly distributed between the pin joints. Static balance analysis in the vertical direction of the lower platform 14200 yields:

[0050] Formula 6:

[0051] From the analysis of formula 6, we can know that F b Maintaining it in a positive (ie compressed) state ensures that the lower platform 14200 remains in contact with the perch, thereby maintaining a grip.

[0052] The above are only preferred embodiments of the present invention. It should be pointed out that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present invention. These should also be regarded as the protection scope of the present invention. These will not affect the effect of the implementation of the present invention and the practicality of the patent.

Claims

1. A ground wire device for power transmission lines based on a bionic bird, characterized in that: It comprises a drone, a ground wire clamping mechanism, a bionic leg mechanism and an underactuated gripper; the drone is used as a carrying body; the ground wire clamping mechanism is arranged at the lower part of the drone by means of a rigid connection; two bionic leg mechanisms are installed on both sides of the ground wire clamping mechanism and are arranged at the lower side of the drone by means of a rigid connection; the underactuated gripper is arranged at the lower side of the bionic leg mechanism by means of a rigid connection, and a ground wire hook is arranged between the two underactuated grippers as a ground wire installation position; one end of the ground wire is installed on the ground wire hook, passes through the ground wire clamping mechanism and is clamped, and the other end is connected to the ground; The ground wire clamping mechanism includes a U-shaped plate, a wire rope clamp and an adjusting bolt; the U-shaped plate is rigidly connected to the drone, and the adjusting bolt clamps the ground wire by cooperating with the wire rope clamp; The bionic leg mechanism comprises an upper leg platform, a winch on the leg platform, a six-bar mechanism, a lower side winch, a spring 1, a spring 2 and a lower leg platform; the winch on the leg platform is installed inside the upper leg platform and is coaxially connected with a bearing; the six-bar mechanism comprises a rod 1, a rod 2, a rod 3, a rod 4, a rod 5, a rod 6 and a triangular piece; both ends of the rod 2 and the rod 3 are respectively connected to the rod 1 and the rod 4; one end of the rod 4, the rod 5 and the rod 6 are respectively connected to the triangular piece, and the other end is respectively connected to the upper leg platform, the proximal end of the winch on the leg platform and the distal end of the winch on the leg platform; the lower side winch is installed at the end of the rod 2 in a rigid connection manner; the spring 1 connects the winch on the leg platform and the triangular piece; the spring 2 connects the lower side winch and the lower leg platform; the lower leg platform is connected to the rod 1 through a pin joint; The underactuated gripper comprises an upper platform, a lower platform, a side connecting rod, an upper side rod and a toe plate; the upper platform is rigidly connected to the lower platform of the leg; the lower platform is arranged below the upper platform, and the lower platform and the upper platform are arranged in parallel; the side connecting rod connects the upper platform and the lower platform through a pin joint, the upper side rod connects the upper platform and the toe plate through a pin joint, and the two toe plates are arranged on both sides of the lower platform through a pin joint.

2. The power transmission line ground wire device based on bionic bird according to claim 1 is characterized in that: The end of the wire rope clamp is threaded and passes through the U-shaped plate, and the adjusting bolt clamps the ground wire in a manner of cooperating with the thread of the end of the wire rope clamp.

3. The power transmission line ground wire device based on bionic bird according to claim 1 is characterized in that: The rod five is a hollow structure in the middle.

4. The device for connecting a power transmission line to a ground wire based on a bionic bird according to claim 1, characterized in that: The spring 1 arranged between the winch of the upper platform of the leg and the triangle piece and the spring 2 arranged between the lower winch and the lower platform of the leg are both connected by steel wire ropes.

5. The device for connecting a power transmission line to a ground wire based on a bionic bird according to claim 1, characterized in that: The matching bearing of the leg upper platform winch arranged inside the leg upper platform is an air bearing.

6. The device for connecting a power transmission line to a ground wire based on a bionic bird according to claim 1, characterized in that: The connections in the six-bar mechanism are all connected through pin joints.

7. The device for connecting a power transmission line to a ground wire based on a bionic bird according to claim 1, characterized in that: The inside of the toe plate is coated with Mold Max 40.

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