Overhead transmission line inspection robot

Abstract

The invention relates to the technical field of power grid operation and maintenance, in particular to an overhead transmission line inspection robot which comprises a case, a walking cavity is formed in the bottom of an inner cavity of the case, first rail grooves communicating with the walking cavity are formed in the top of the case, and moving rails are arranged at the bottoms of inner cavities of the first rail grooves; two walking arms and two tower crossing arms are movably connected into the first track groove, the two tower crossing arms are both located between the two walking arms, and walking mechanisms used for driving the walking arms and the tower crossing arms to walk on the moving track are arranged at the bottoms of the walking arms and the bottoms of the tower crossing arms. According to the embodiment of the invention, through a mode that the two walking arms, the two tower crossing arms and the walking mechanisms are matched, the inspection robot can walk and cross obstacles on the cable autonomously, manual intervention of an operator is not needed, and the inspection efficiency of the inspection robot is remarkably improved.

Description

Technical Field

[0001] The present application relates to the technical field of power grid operation and maintenance, and in particular to an overhead power transmission line inspection robot. Background Art

[0002] When the power grid is in operation, it is necessary to regularly inspect the lines. Inspection robots that can move on the lines are used instead of manual inspections to improve the safety of operators and the inspection efficiency. However, conventional overhead lines are not a single line, but also include poles and tension strings. When the inspection robots in the prior art encounter obstacles such as the connection points between the lines and poles, and the connection points between the lines and tension strings, the operators are required to manually remove the inspection robots so that the robots can pass the obstacles. The inspection efficiency of this operation mode is low. Summary of the invention

[0003] In response to the shortcomings of the prior art, the present application provides an overhead transmission line inspection robot. The embodiment of the present application uses two walking arms and two tower-crossing arms and their walking mechanisms to enable the inspection robot to autonomously walk on cables and overcome obstacles without the need for manual intervention by an operator, thereby significantly improving the inspection efficiency of the inspection robot.

[0004] The above application objectives of this application are achieved through the following technical solutions:

[0005] An overhead power transmission line inspection robot comprises a chassis, the bottom of the inner cavity of the chassis has a walking cavity, the top of the chassis is provided with a first rail groove interconnected with the walking cavity, and the bottom of the inner cavity of the first rail groove is provided with a moving track;

[0006] Two walking arms and two tower crossing arms are movably connected in the first track groove, and the two tower crossing arms are located between the two walking arms. The bottom of the walking arms and the tower crossing arms are provided with walking mechanisms for driving the walking arms and the tower crossing arms to walk on the moving track;

[0007] The walking arm includes a telescopic rod installed on the walking mechanism, the extended end of the telescopic rod is installed with a frame body, the middle of the frame body has a through hole for cable accessories to pass through, and the top of the frame body is rotatably connected with a contact wheel for contacting the cable;

[0008] The tower crossing arm comprises a mounting rod mounted on the walking mechanism, one end of the mounting rod away from the connecting piece is rotatably connected to a swing rod, and one end of the swing rod away from the connecting piece is mounted with a hook;

[0009] The frame body and swing arm are both located on the top outside of the chassis.

[0010] Optionally, the moving track includes a fixed rack fixed to the bottom of the inner cavity of the walking cavity, the walking mechanism includes a mounting member, a walking drive motor is arranged at the bottom of the mounting member, and a walking gear that can mesh with the fixed rack is installed on the rotating shaft of the walking drive motor;

[0011] Optionally, a plurality of second track grooves are further provided on the top of the chassis, the plurality of second track grooves are interconnected with the first track groove and the running cavity, the central axes of the plurality of second track grooves are perpendicularly intersected with the central axis of the first track groove, the two ends of the second track grooves are away from the first track groove, and the bottom of the inner cavity of the plurality of second guide rail grooves is provided with a movable track;

[0012] A plurality of circular turntables are rotatably connected inside the walking cavity, and the circular turntables are arranged at the intersection of the moving track in the first guide rail groove and the moving track in the second guide rail groove.

[0013] Optionally, the circular turntable is rotatably connected to the bottom of the inner cavity of the walking cavity, a driven gear is fixedly connected to the bottom of the circular turntable, and a driving gear and a driving rack are also provided at the bottom of the inner cavity of the walking cavity. The driving rack is slidably connected to the bottom of the walking cavity, the driving gear is rotatably connected to the bottom of the walking cavity, the driving gear and the driven gear are both meshed and connected with the driving rack, and the driving gear is driven by a motor.

[0014] Optionally, the telescopic rod comprises a rectangular sleeve mounted on the mounting member, a connecting rod is inserted into the rectangular sleeve, the frame body is mounted on the top of the connecting rod, and the cross-sections of the inner cavities of the connecting rod and the rectangular sleeve are both rectangular;

[0015] A control motor is arranged at the bottom of the inner cavity of the rectangular sleeve, a screw rod is fixed on the rotating shaft of the control motor, a receiving cavity is opened at the bottom of the connecting rod, a threaded sleeve is arranged at the bottom of the inner cavity of the receiving cavity, one end of the screw rod away from the control motor passes through the threaded sleeve and enters the receiving cavity, and the threaded sleeve is threadedly connected to the screw rod.

[0016] Optionally, the frame body includes two connecting frames installed on the top of the connecting rod, a rotating shaft is arranged between the two connecting frames, the contact wheel is installed on the outside of the rotating shaft, and both ends of the rotating shaft are respectively rotatably connected to the two connecting frames.

[0017] Optionally, the rotating shaft includes two symmetrically distributed shaft cores, the outer side of the shaft core is provided with a shaft sleeve, one end of the shaft core is rotatably connected to the connecting frame, the contact wheel is rotatably connected to one of the shaft cores, and the other shaft core is detachably connected to the contact wheel;

[0018] The distance between the two connecting frames is adjustable.

[0019] Optionally, two hinge points are provided on the top of the connecting rod, and the ends of the two connecting frames away from the shaft core are respectively hinged to the two hinge points on the top of the connecting rod through pins, and the rotation of the connecting frames is driven by a motor.

[0020] Optionally, one end of the swing rod is hinged to the mounting rod, and the other end of the swing rod is hinged to one end of the hook. The hook opening directions of the two tower crossing arms are opposite, and the rotation of the swing rod and the hook are driven by a motor.

[0021] In summary, this application has the following beneficial technical effects:

[0022] The embodiment of the present application uses the cooperation of two walking arms, two tower crossing arms and their walking mechanisms to enable the inspection robot to autonomously walk on cables and overcome obstacles without the need for manual intervention by an operator, thereby significantly improving the inspection efficiency of the inspection robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a front view schematic diagram of an embodiment of the present application;

[0024] Figure 2 is a schematic cross-sectional view of a chassis according to an embodiment of the present application;

[0025] Figure 3 is a schematic diagram of a walking arm according to an embodiment of the present application;

[0026] Figure 4 is a cross-sectional schematic diagram of a telescopic rod according to an embodiment of the present application;

[0027] Figure 5 is a schematic diagram of a tower crossing arm in one embodiment of the present application;

[0028] Figure 6 This is a schematic diagram of the opening of the walking arm in one embodiment of the present application;

[0029] Figure 7 It is a schematic diagram of a circular turntable according to an embodiment of the present application.

[0030] Reference numerals: 10, chassis; 11, travel cavity; 12, first track groove; 13, second track groove; 14, moving track; 15, circular turntable; 16, driven gear; 17, driving gear; 18, driving rack;

[0031] 200, walking arm; 210, telescopic rod; 211, rectangular sleeve; 212, connecting rod; 213, control motor; 214, screw rod; 215, accommodating chamber; 216, threaded sleeve; 217, hinge point; 220, frame body; 221, through hole; 222, contact wheel; 223, connecting frame; 224, rotating shaft; 225, shaft core; 226, shaft sleeve;

[0032] 30. Over-tower arm; 31. Mounting rod; 32. Swing rod; 33. Hook;

[0033] 40. Traveling mechanism; 41. Traveling drive motor; 42. Traveling gear. DETAILED DESCRIPTION

[0034] The present application is further described in detail below in conjunction with the accompanying drawings.

[0035] The embodiment of the present application provides an overhead power transmission line inspection robot, including a chassis 10, the chassis 10 is used to install inspection equipment;

[0036] The bottom of the inner cavity of the chassis 10 is provided with a running cavity 11, the top of the chassis 10 is provided with a first rail groove 12 which is interconnected with the running cavity 11, and the bottom of the inner cavity of the first rail groove is provided with a moving rail 14, the moving rail 14 is located at the bottom of the inner cavity of the running cavity 11, and the axis of the moving rail 14 can be parallel or colinear with the axis of the first rail groove 12;

[0037] Two walking arms 200 and two tower crossing arms 30 are movably connected in the first track groove 12. The two walking arms 200 and the two tower crossing arms 30 are independent of each other. The two tower crossing arms 30 are located between the two walking arms 200. The distance between any two of the four arms of the two walking arms 200 and the two tower crossing arms 30 is adjustable. The bottom of the walking arms 200 and the tower crossing arms 30 are provided with a walking mechanism 40 for driving the walking arms 200 and the tower crossing arms 30 to walk on the moving track 14.

[0038] The walking arm 200 includes a telescopic rod 210 installed on the walking mechanism 40, and a frame body 220 is installed at the extended end of the telescopic rod 210. The middle of the frame body 220 has a through hole 221 for cable accessories to pass through, and the top of the frame body 220 is rotatably connected to a contact wheel 222 for contacting the cable;

[0039] The tower crossing arm 30 includes a mounting rod 31 mounted on the walking mechanism 40, and one end of the mounting rod 31 away from the connecting member is rotatably connected to a swing rod 32, and one end of the swing rod 32 away from the connecting member is mounted with a hook 33;

[0040] The frame body 220 and the swing arm 32 are both located on the top outer side of the chassis 10 .

[0041] The following is a further introduction based on specific usage scenarios.

[0042] When in use, the operator mounts on the cable through the walking arm 200. At this time, the cable is located in the through hole 221 of the frame body 220, the contact wheel 222 is located at the top of the cable, and the cable is in the groove of the contact wheel 222. After the mounting is completed, the chassis 10 moves relative to the cable to start inspection.

[0043] When the inspection robot is inspecting, the chassis 10 moves relative to the cable, and it mainly relies on two types of movement. The overhead cable is affected by the cable's own weight and generally conforms to the fastest curve. When the inspection robot is in the downward section of the aforementioned curve, it can slide freely due to its own gravity. When the inspection robot is at the physical lowest point of the aforementioned curve, the hook 33 in the tower crossing arm 30 at the front end of the inspection robot's running path rotates to hook the cable. At this time, the cable and the hook 33 are relatively fixed, and the walking mechanism 40 at the bottom of the tower crossing arm 30 where the front end hook 33 is located moves, causing the tower crossing arm 30 and the chassis 10 to move relative to each other. When it is stationary, the chassis 10 continues to move forward along the running path. After the front tower arm 30 moves to the limit of its travel, the hook 33 of the rear tower arm 30 rotates to mount the cable. At this time, the cable and the rear hook 33 are relatively fixed, and the walking mechanism 40 at the bottom of the rear tower arm 30 starts to move. The chassis 10 moves forward relative to the cable again, and the hook 33 of the front tower arm 30 rotates to disengage from the cable, and the walking mechanism 40 at the bottom of the front tower arm 30 moves to reset the front tower arm 30. The two walking arms 200 maintain the relative position of the chassis 10 to prevent the chassis 10 from falling. The staggered movement of the two tower arms 30 drives the entire inspection robot to move on the cable.

[0044] When the inspection robot encounters an obstacle, the hooks 33 of the two tower crossing arms 30 rotate to mount the cables, and then the telescopic rods 210 of the two walking arms 200 extend the protruding ends, so that the frame body 220 moves up, and the contact wheel 222 breaks contact with the cable. Then the walking mechanism 40 at the bottom of the two walking arms 200 starts to drive the walking arms 200 to move on the moving track 14, so that the frame bodies 220 of the two walking arms 200 pass through the obstacle point. When the obstacle point on the cable passes through the through hole 221 of the frame body 220, the telescopic rods 210 of the two walking arms 200 are retracted, so that the frame bodies 220 of the two walking arms 200 move down, and the contact wheel 222 contacts the cable again to complete the obstacle crossing.

[0045] In general, the embodiment of the present application enables the inspection robot to autonomously walk on cables and overcome obstacles by cooperating with two walking arms 200, two tower crossing arms 30 and their walking mechanisms 40, without the need for manual intervention by an operator, thereby significantly improving the inspection efficiency of the inspection robot.

[0046] The cooperation of the moving track 14 arranged inside the box and the walking mechanism 40 at the bottom of the four arms realizes the movement of the two walking arms 200 and the two tower crossing arms 30 to drive the inspection robot to overcome obstacles and climb slopes. In some possible implementation methods of the embodiments of the present application, the moving track 14 includes a fixed rack fixedly connected to the bottom of the inner cavity of the walking cavity 11, and the walking mechanism 40 includes a mounting part. The top of the mounting part can be used to install the walking arm 200 or the tower crossing arm 30. A walking drive motor 41 is arranged at the bottom of the mounting part. A gear that can mesh with the fixed rack is installed on the rotating shaft of the walking drive motor 41. When the tower crossing arm 30 or the walking arm 200 needs to move relative to the chassis 10, the walking drive motor 41 at the bottom drives the walking gear 42 to rotate. Under the constraint of the fixed rack, the meshing movement of the walking gear 42 and the fixed rack drives the tower crossing arm 30 or the walking arm 200 to move relative to the chassis 10. In some possible implementation methods of the embodiments of the present application, the diameter of the mounting part is larger than the inner diameter of the first track groove 12. In this way, the movement of the mounting part in the walking cavity 11 is restricted, thereby forcing the walking gear 42 to mesh with the fixed rack.

[0047] The telescopic rod 210 is an actuator in the walking arm 200 that drives the frame body 220 to move up and down. In some possible implementations of the embodiments of the present application, the telescopic rod 210 includes a rectangular sleeve 211 installed on a mounting member, a connecting rod 212 is inserted into the rectangular sleeve 211, and the frame body 220 is installed on the top of the connecting rod 212. The cross-sections of the inner cavities of the connecting rod 212 and the rectangular sleeve 211 are both rectangular. In the assembled state, the outer side of the connecting rod 212 fits with the inner wall of the rectangular sleeve 211, and the inner wall of the rectangular sleeve 211 prevents the connecting rod 212 from rotating relative to the inner wall. A control motor is provided at the bottom of the inner cavity of the rectangular sleeve 211. 213, a screw rod 214 is fixed on the rotating shaft of the control motor 213, a receiving chamber 215 is provided at the bottom of the connecting rod 212, a threaded sleeve 216 is provided at the bottom of the inner cavity of the receiving chamber 215, one end of the screw rod 214 away from the control motor 213 passes through the threaded sleeve 216 and enters the receiving chamber 215, the threaded sleeve 216 is threadedly connected with the screw rod 214, when the control motor 213 rotates, the screw rod 214 and the threaded sleeve 216 are threadedly matched, when the threaded sleeve 216 is fixed relative to the connecting rod 212, the matching of the screw rod 214 and the threaded sleeve 216 drives the connecting rod 212 to move up and down, thereby driving the frame body 220 to move upward.

[0048] The frame body 220 includes two connecting frames 223 installed on the top of the connecting rod 212, a rotating shaft 224 is arranged between the two connecting frames 223, and the contact wire wheel 222 is arranged on the outside of the rotating shaft 224. The two ends of the rotating shaft 224 are respectively connected to the two connecting rods 212 for rotation. Specifically, the rotating shaft 224 includes two symmetrically distributed shaft cores 225, and the outer side of the shaft core 225 is provided with a shaft sleeve 226. One end of the shaft core 225 is rotatably connected to the connecting frame 223, and the contact wire wheel 222 is rotatably connected to one of the shaft cores 225. The other shaft core 225 is detachably connected to the contact wire wheel 222. The two connecting rods 21 2 is adjustable. The opening and closing of the frame body 220 is achieved by adjusting the distance between the two connecting rods 212. When the two connecting rods 212 of the frame body 220 are specifically expanded to the point where the two shaft cores 225 are separated, the top of the frame body 220 opens. Along with the downward movement of the frame body 220, the cables inside the frame body 220 can leave the frame body 220. Of course, the movement of the cables entering the frame body 220 is similar to the aforementioned method. This makes it convenient for operators to mount and unload the inspection robot. When the two connecting rods 212 form the frame body 220, the inspection robot can be stably mounted on the cables.

[0049] The contact wheel 222 is located on one of the shaft cores 225. On the basis of maintaining relative rotation with the shaft core 225, the axial position of the contact wheel 222 and the shaft core 225 remains unchanged. There are many ways to implement this in the prior art. The setting of the sleeve 226 can maintain the relative position of the contact wheel 222 after the shaft core 225 is inserted into the contact wheel 222.

[0050] The distance between the two connecting rods 212 is adjustable. In the embodiment of the present application, it can be achieved in the following manner: two hinge points 217 are set at the top of the connecting rod 212, and the ends of the two connecting frames 223 away from the shaft core 225 are respectively hinged to the two hinge points 217 at the top of the connecting rod 212 through pins. The rotation of the connecting frame 223 is driven by a motor, and the two ends of the pin are respectively fixed on the connecting frame 223 and the rotating shaft of the motor. When the motor rotates, the angle between the connecting frame 223 connected to the pin and the connecting rod 212 changes, and the end of the connecting frame 223 away from the connecting rod 212 undergoes tangential displacement.

[0051] The cam 33 is connected to the rear frame 31 and the rear frame 32 is connected to the control frame 31 by the spring 32. The cam 33 is connected to the control frame 31 by the spring 32. The control frame 33 is connected to the control frame 31 by the spring 32.

[0052] In some possible implementations of the embodiments of the present application, a plurality of second rail grooves 13 are further provided on the top of the chassis 10, and the plurality of second rail grooves 13 are interconnected with the first rail groove 12 and the running cavity 11, and the central axes of the plurality of second rail grooves 13 are perpendicularly intersected with the central axis of the first rail groove 12, and the two ends of the second rail grooves 13 are away from the first rail groove 12, and movable rails 14 are provided at the bottom of the inner cavities of the plurality of second guide rail grooves, and a plurality of circular turntables 15 are rotatably connected inside the running cavity 11, and the circular turntables 15 are provided at the intersection of the movable rails 14 in the first guide rail groove and the movable rails 14 in the second guide rail groove.

[0053] When the inspection robot encounters obstacles such as large tension strings, drainage lines or tower crossbars on its way forward, the walking mechanism 40 at the bottom of the two tower crossing arms 30 first moves to the circular turntable 15, and the rotation of the circular turntable 15 drives the walking mechanism 40 to rotate. When the predetermined displacement route of the walking mechanism 40 is perpendicular to the original displacement route, the circular turntable 15 stops rotating. At this time, the two tower crossing arms 30 can leave the first guide rail groove and enter the second guide rail groove. The two ends of the second guide rail groove are away from the first guide rail groove. The two tower crossing arms 30 can move to the two second guide rail grooves on the same side, so that the walking arm 200 is away from the obstacle point. Then the two tower crossing arms 30 drive the inspection robot forward to cross the obstacle point. After crossing the obstacle point, the two walking arms 200 and the two tower crossing arms 30 are reset, and the frame body 220 is re-looped around the cable to complete the obstacle crossing. This process also does not require manual intervention by the operator.

[0054] The circular turntable 15 is rotatably connected to the bottom of the inner cavity of the traveling cavity 11, a driven gear 16 is fixed to the bottom of the circular turntable 15, a driving gear 17 and a driving rack 18 are also provided at the bottom of the inner cavity of the traveling cavity 11, the driving rack 18 is slidably connected to the bottom of the traveling cavity 11, the driving gear 17 is rotatably connected to the bottom of the traveling cavity 11, the driving gear 17 and the driven gear 16 are both meshed and connected with the driving rack 18, and the driving gear 17 is driven by a motor.

[0055] In an embodiment of the present application, a controller may be provided, and the controller is connected to several motor signals in the inspection robot for driving the movement of components, so that an operator or a program loaded on the inspection robot can turn on each motor to realize automatic movement of the inspection robot.

[0056] The embodiments of this specific implementation method are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. Therefore, all equivalent changes made based on the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. An overhead power line inspection robot, characterized in that: The machine comprises a chassis (10), wherein the bottom of the inner cavity of the chassis (10) is provided with a running cavity (11), the top of the chassis (10) is provided with a first rail groove (12) which is interconnected with the running cavity (11), and the bottom of the inner cavity of the first rail groove is provided with a moving rail (14); Two walking arms (200) and two tower crossing arms (30) are movably connected in the first track groove (12); the two tower crossing arms (30) are located between the two walking arms (200); and walking mechanisms (40) for driving the walking arms (200) and the tower crossing arms (30) to walk on the movable track (14) are provided at the bottom of the walking arms (200) and the tower crossing arms (30); The walking arm (200) comprises a telescopic rod (210) mounted on a walking mechanism (40); a frame body (220) is mounted on the protruding end of the telescopic rod (210); a through hole (221) is provided in the middle of the frame body (220) for cable accessories to pass through; and a contact wheel (222) is rotatably connected to the top of the frame body (220) for contacting the cable; The tower crossing arm (30) comprises a mounting rod (31) mounted on a walking mechanism (40), one end of the mounting rod (31) away from the connecting member is rotatably connected to a swing rod (32), and one end of the swing rod (32) away from the connecting member is mounted with a hook (33); The frame body (220) and the swing rod (32) are both located on the top outer side of the chassis (10).

2. An overhead power line inspection robot according to claim 1, characterized in that: The movable track (14) comprises a fixed rack fixedly connected to the bottom of the inner cavity of the walking cavity (11); the walking mechanism (40) comprises a mounting member, a walking drive motor (41) is arranged at the bottom of the mounting member, and a walking gear (42) which can mesh with the fixed rack is installed on the rotating shaft of the walking drive motor (41).

3. An overhead power line inspection robot according to claim 2, characterized in that: A plurality of second rail grooves (13) are also provided on the top of the chassis (10); the plurality of second rail grooves (13) are interconnected with the first rail groove (12) and the running cavity (11); the central axes of the plurality of second rail grooves (13) are perpendicularly intersected with the central axis of the first rail groove (12); the two ends of the second rail grooves (13) are away from the first rail groove (12); and the bottom of the inner cavity of the plurality of second rail grooves is provided with a moving rail (14); A plurality of circular turntables (15) are rotatably connected inside the running cavity (11), and the circular turntables (15) are arranged at the intersection of the moving track (14) in the first guide rail groove and the moving track (14) in the second guide rail groove.

4. The overhead power line inspection robot according to claim 3, characterized in that: The circular rotating disk (15) is rotatably connected to the bottom of the inner cavity of the traveling cavity (11); a driven gear (16) is fixedly connected to the bottom of the circular rotating disk (15); a driving gear (17) and a driving rack (18) are also arranged at the bottom of the inner cavity of the traveling cavity (11); the driving rack (18) is slidably connected to the bottom of the traveling cavity (11); the driving gear (17) is rotatably connected to the bottom of the traveling cavity (11); and both the driving gear (17) and the driven gear (16) are meshedly connected to the driving rack (18).

5. The overhead power line inspection robot according to claim 2, characterized in that: The telescopic rod (210) comprises a rectangular sleeve (211) mounted on a mounting member, a connecting rod (212) is inserted into the rectangular sleeve (211), a frame body (220) is mounted on the top of the connecting rod (212), and the cross-sections of the inner cavities of the connecting rod (212) and the rectangular sleeve (211) are both rectangular; A control motor (213) is arranged at the bottom of the inner cavity of the rectangular sleeve (211); a screw rod (214) is fixedly connected to the rotating shaft of the control motor (213); a receiving cavity (215) is provided at the bottom of the connecting rod (212); a threaded sleeve (216) is arranged at the bottom of the inner cavity of the receiving cavity (215); an end of the screw rod (214) away from the control motor (213) passes through the threaded sleeve (216) and enters the receiving cavity (215); and the threaded sleeve (216) is threadedly connected to the screw rod (214).

6. The overhead power line inspection robot according to claim 6, characterized in that: The frame body (220) comprises two connecting frames (223) installed on the top of the connecting rod (212), a rotating shaft (224) is arranged between the two connecting frames (223), the contact wheel (222) is installed outside the rotating shaft (224), and the two ends of the rotating shaft (224) are respectively rotatably connected to the two connecting frames (223).

7. The overhead power line inspection robot according to claim 2, characterized in that: The rotating shaft (224) includes two symmetrically distributed shaft cores (225), the outer side of the shaft core (225) is provided with a shaft sleeve (226), one end of the shaft core (225) is rotatably connected to the connecting frame (223), the contact wire wheel (222) is rotatably connected to one of the shaft cores (225), and the other shaft core (225) is detachably connected to the contact wire wheel (222); The distance between the two connecting frames (223) is adjustable.

8. The overhead power line inspection robot according to claim 7, characterized in that: Two hinge points (217) are arranged at the top of the connecting rod (212), and one end of the two connecting frames (223) away from the shaft core (225) is respectively hinged to the two hinge points (217) at the top of the connecting rod (212) through pins.

9. The overhead power line inspection robot according to claim 8, characterized in that: One end of the swing rod (32) is hinged to the mounting rod (31), and the other end of the swing rod (32) is hinged to one end of the hook (33). The opening directions of the hooks (33) of the two tower crossing arms (30) are opposite.

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