Electrified transmission line live-line work flying robot end work tool

Abstract

The application discloses an electric transmission line live working flying robot end working tool, and belongs to the technical field of electric transmission line live working tools. The technical scheme for solving the problem that the prior art electric transmission line live working relies on manual operation and is unsafe comprises a containing bin, a winding and unwinding mechanism, an adjustable suspension mechanism and a multi-shaft mechanical arm arranged on the flying robot. The containing bin is internally provided with a containing cavity. The containing cavity is internally provided with a telescopic frame through a telescopic mechanism. The telescopic frame is provided with a storage groove. The storage groove is internally provided with a movable strip. The adjustable suspension mechanism is installed at the free end of the movable strip. The application can automatically fasten bolts, install online monitoring devices and clean the outer wall of high-altitude cables, realizes multifunction, the flying robot swings synchronously with the electric wire through the adjustable suspension mechanism, reduces the collision risk caused by the violent swinging of the electric wire, and the working tool installed on the flying robot can better operate the target position.

Description

Technical Field

[0001] This invention relates to the field of live-line working tools for power transmission lines, specifically to a terminal working tool for a flying robot used for live-line working of power transmission lines. Background Technology

[0002] Live-line work on transmission lines refers to the operation of inspecting, maintaining, and testing high-voltage transmission lines without interrupting power. This is a key technology to ensure the continuous and stable power supply of the power system. More and more defects have been found on transmission lines, such as overheating of the diverter plates on tension towers and missing nuts on suspension clamps of straight towers. However, the overheating of the diverter plates is usually caused by problems such as poor screw tightening and loose nuts. Existing technology requires that these defects be addressed without interrupting power to the line, and the most common method is live-line work.

[0003] Currently, most live-line work on transmission lines still relies on manual operation, which usually involves workers wearing insulated clothing and using insulated tools. However, there is still a risk of electric shock due to insulation failure. For example, if the insulated tools are damaged or the insulation performance decreases in special environments such as dampness, these situations may lead to electric shock to the workers. Moreover, high-altitude work is highly dangerous, manual operation is relatively inefficient, and it is easily affected by human factors such as operational errors and emotional fluctuations. To address this, we propose a flying robot end-effector tool for live-line work on transmission lines. Summary of the Invention

[0004] The purpose of this invention is to provide a terminal tool for a flying robot for live-line work on power transmission lines, which solves the problems of manual labor, unsafe operation, and unstable operation in the prior art, and realizes automated operation, making the operation safer and more stable.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a terminal working tool for a live-line working flying robot, comprising a housing, a retraction mechanism, an adjustable suspension mechanism, and two multi-axis robotic arms mounted on the flying robot. The two multi-axis robotic arms are mounted on the flying robot, one of which has an automatically fastening bolt detachably mounted at its end, and the other has a clamping component detachably mounted at its end. Both the automatically fastening bolt and the clamping component have miniature cameras embedded at their ends.

[0006] The storage compartment is fixed to the upper surface of the flying robot, and a storage cavity is provided inside the storage compartment. A telescopic frame is provided inside the storage cavity through a telescopic mechanism. A storage slot is provided on the telescopic frame. Two movable strips are provided in the storage slot. The movable strips include a connecting end that is driven to the retraction mechanism and a free end away from the connecting end.

[0007] The retraction mechanism is used to simultaneously retract the two movable bars into the storage slot or to simultaneously move the free ends of the two movable bars out of the storage slot so that the movable bars are perpendicular to the telescopic frame.

[0008] The adjustable suspension mechanism is installed at the free end of the movable bar and is used to connect with the high-altitude power line when the flying robot flies to high altitudes for operation, so as to realize the synchronous swing of the flying robot and the high-altitude power line.

[0009] Furthermore, the adjustable suspension mechanism includes a suspension ring and a deflection mechanism. The suspension ring includes a first semicircular ring and a second semicircular ring. A mounting plate is fixed to the side wall end of the first semicircular ring. A first motor is mounted on the outside of the mounting plate. A connecting rod is connected between the output end of the first motor and the second semicircular ring. The deflection mechanism is used to deflect the suspension ring.

[0010] Furthermore, the deflection mechanism includes a concave plate fixed to the movable bar, and a second motor is installed inside the concave plate. The output end of the second motor is connected to the first semi-circular ring through a connecting shaft.

[0011] Furthermore, the adjustable suspension mechanism also includes a wiping pad and a rotating mechanism. The wiping pad includes a first pad body and a second pad body. The first pad body is disposed on the inner wall of the first semicircular ring, and the second pad body is disposed on the inner wall of the second semicircular ring. The rotating mechanism is used to drive the wiping pad to rotate on the inner wall of the suspension ring.

[0012] Furthermore, the rotating mechanism includes a fifth motor and a semi-circular rack. The output end of the fifth motor is connected to a fourth gear. There are two semi-circular racks, which are respectively fixed to the side walls of the first pad and the second pad. The two semi-circular racks can be combined to form a circular rack. The fourth gear can be meshed with either semi-circular rack.

[0013] Furthermore, a second annular guide strip is fixed on the outer circumferential surface of the wiping pad, and a protrusion is integrally formed at the end of the second annular guide strip. A second annular guide groove is formed on the inner circumferential surface of the suspension ring, and the second annular guide strip slides into the second annular guide groove.

[0014] Furthermore, the retraction mechanism includes a first gear connected to one end of the upper surfaces of two movable bars that are close to each other, and a third motor mounted on the upper surface of the telescopic frame. The bottom end of the third motor is connected to a second gear located in the storage slot. The second gear meshes with the first gear on one of the movable bars, and the second gear is also meshed with the third gear, which meshes with the first gear on the other movable bar.

[0015] Furthermore, a groove is provided on the side wall of the movable strip near the end of the first gear, the groove being used to accommodate the second gear and the third gear.

[0016] Furthermore, the telescopic mechanism includes a fourth motor installed outside the receiving chamber, the output end of the fourth motor being connected to a lead screw extending into the receiving chamber, a lead screw nut seat being installed on the outside of the lead screw, and the lead screw nut seat being installed on the lower end face of the telescopic frame near the inner end.

[0017] Furthermore, a first annular guide groove is provided at the end of the first semi-circular ring, and a first annular guide bar is fixed on the side of the concave plate facing the first semi-circular ring, with the first annular guide bar slidably engaged with the first annular guide groove.

[0018] This invention has at least the following beneficial effects:

[0019] 1. Firstly, by replacing humans with flying robots to directly contact high-voltage lines, the risk of electric shock for workers is greatly reduced. Miniature cameras mounted on the automatic bolt-fastening and clamping components can transmit real-time video information of the work area, helping operators accurately judge and control the work process, thus improving safety. The automatic bolt-fastening components can precisely tighten the bolts, avoiding problems of insufficient or excessive tightening caused by human factors. The flying robot can quickly reach the designated location and perform flexible operations through its multi-axis robotic arm, shortening preparation and actual operation time. The flying robot can complete multiple tasks in a single flight, increasing efficiency. Secondly, through an adjustable suspension mechanism and... The connection of the high-altitude power line enables the flying robot to swing synchronously with the power line. This helps maintain operational stability when natural conditions such as wind change, reduces the risk of collisions caused by violent line swaying, and allows the tools installed on the flying robot to be better aligned with the target position, enhancing stability and improving operational accuracy. Furthermore, the detachable design of the automatic fastening bolts and clamps allows for the replacement of different tool heads according to specific operational needs, increasing the system's versatility and flexibility. Finally, the addition of a retraction and telescopic mechanism allows the entire adjustable suspension system to be extended and retracted. During transportation, it can be retracted into a smaller shape for easy storage and handling. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 For the present invention Figure 1 A structural diagram from another angle;

[0022] Figure 3 For the present invention Figure 2A structural diagram from another angle;

[0023] Figure 4 This is a structural schematic diagram of the telescopic frame, adjustable suspension mechanism, and retraction mechanism of the present invention in a combined state.

[0024] Figure 5 This is a schematic diagram of the structure of the adjustable suspension mechanism and the retraction mechanism of the present invention in combination.

[0025] Figure 6 This is a schematic diagram of the adjustable suspension mechanism of the present invention;

[0026] Figure 7 For the present invention Figure 6 A structural diagram from another angle;

[0027] Figure 8 This is a schematic diagram of the structure of the wiping pad and the semi-circular toothed rack of the present invention in the connected state;

[0028] Figure 9 This is a schematic diagram of the suspension ring structure of the present invention;

[0029] Figure 10 This is a schematic diagram of the structure of the second annular guide bar of the present invention;

[0030] Figure 11 This is a schematic diagram of the concave plate of the present invention.

[0031] In the diagram: 1. Flying robot; 2. Multi-axis robotic arm; 3. Automatic bolt fastening component; 4. Clamping component; 5. Receiving compartment; 6. Receiving cavity;

[0032] 7. Telescopic frame; 71. Storage slot;

[0033] 8. Adjustable suspension mechanism; 81. Suspension ring; 811. First semi-circular ring; 812. Second semi-circular ring; 813. Mounting plate; 814. First motor; 82. Deflection mechanism; 821. Concave plate; 822. Second motor; 823. First annular guide bar; 824. First annular guide groove; 83. Wiping pad; 831. First pad body; 832. Second pad body; 84. Rotation mechanism; 841. Fifth motor; 842. Fourth gear; 843. Semi-circular rack; 844. Second annular guide bar; 8441. Protruding bar; 845. Second annular guide groove;

[0034] 9. Retracting / unloading mechanism; 91. First gear; 92. Third motor; 93. Second gear; 94. Third gear;

[0035] 10. Telescopic mechanism; 101. Fourth motor; 102. Lead screw; 103. Lead screw nut seat;

[0036] 11. Movable strip; 111. Groove. Detailed Implementation

[0037] This invention discloses an end-effector tool for a live-line working flying robot, comprising a housing, a retraction mechanism, an adjustable suspension mechanism, and two multi-axis robotic arms mounted on the flying robot. One of the multi-axis robotic arms has an automatically fastening bolt detachably mounted at its end, and the other multi-axis robotic arm has a clamping component detachably mounted at its end. Miniature cameras are embedded at the ends of both the automatically fastening bolt and the clamping component.

[0038] The storage compartment is fixed to the upper surface of the flying robot, and the storage compartment is provided with a storage cavity. The storage cavity is provided with a telescopic frame through a telescopic mechanism. The telescopic frame is provided with a storage slot. The storage slot is provided with two movable bars. The movable bars include a connecting end that is connected to the retraction mechanism and a free end away from the connecting end.

[0039] The retraction mechanism is used to simultaneously retract the two movable strips into the storage slot or to simultaneously move the free ends of the two movable strips out of the storage slot so that the movable strips are perpendicular to the telescopic frame.

[0040] An adjustable suspension mechanism is installed at the free end of the movable bar and is used to connect with the high-altitude power line when the flying robot flies to high altitudes to perform operations, so as to realize the synchronous swing of the flying robot and the high-altitude power line.

[0041] First, by replacing humans with flying robots to directly contact high-voltage lines, the risk of electric shock for workers is greatly reduced. Miniature cameras mounted on automatic bolt fastening devices and clamps can transmit real-time video information of the work area, helping operators accurately judge and control the work process, thus improving safety. The automatic bolt fastening devices can precisely tighten bolts, avoiding under-tightening or over-tightening caused by human error. The flying robot can quickly reach the designated location and perform flexible operations using a multi-axis robotic arm, shortening preparation and actual operation time. The flying robot can complete multiple tasks in a single flight, increasing efficiency. Secondly, through an adjustable suspension mechanism and high... The connection of the overhead power line enables the flying robot to swing synchronously with the power line. This helps maintain operational stability when natural conditions change, such as wind, and reduces the risk of collisions caused by violent line swaying. Furthermore, the tools installed on the flying robot can be better aligned with the target position, enhancing stability and improving operational accuracy. The detachable design of the automatic fastening bolts and clamps allows for the replacement of different tool heads according to specific operational needs, increasing the system's versatility and flexibility. Finally, the addition of a retraction and telescopic mechanism allows the entire adjustable suspension system to be extended and retracted. During transportation, it can be retracted into a smaller shape for easy storage and handling.

[0042] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0043] The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in sequences other than those illustrated or described herein.

[0044] It should be understood that in the various embodiments of the present invention, the number of each process does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0045] It should be understood that in this invention, "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or device.

[0046] It should be understood that in this invention, "multiple" refers to two or more. "And / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, X and / or Y can represent: X alone, X and Y simultaneously, or Y alone. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "Contains X, Y, and Z", "Contains X, Y, and Z" means that all three X, Y, and Z are contained; "Contains X, Y, or Z" means that one of X, Y, and Z is contained; "Contains X, Y, and / or Z" means that any one, two, or three of X, Y, and Z are contained.

[0047] The technical solution of the present invention will be described in detail below with reference to specific embodiments. The following specific embodiments may be combined or substituted with each other according to the actual situation, and the same or similar concepts or processes may not be described again in some embodiments.

[0048] Example 1:

[0049] like Figures 1 to 11As shown, this invention provides an end-effector tool for a flying robot used for live-line work on power transmission lines. The tool includes a flying robot 1, a housing 5, a deployment and retraction mechanism 9, an adjustable suspension mechanism 8, and a controller. Cameras are embedded at all four ends of the flying robot 1. During live-line work on power transmission lines, the cameras provide precise visual guidance for the robot's operation. The flying robot 1 is equipped with two multi-axis robotic arms 2. One multi-axis robotic arm 2 has an automatically tightening bolt assembly 3 detachably mounted at its end. The automatically tightening bolt assembly 3 can be an electric wrench for automatically tightening nuts. The other multi-axis robotic arm 2 has a detachably mounted clamping component 4 detachably mounted at its end. The clamping component 4 can be a conventional robot gripper. Furthermore, during high-altitude work on specific power transmission lines, the automatically tightening bolt assembly 3 and the clamping component 4 can be disassembled and replaced with other working tools, such as cutting tools, to cut branches that interfere with the power transmission lines. Additionally, miniature cameras are embedded at the ends of both the automatically tightening bolt assembly 3 and the clamping component 4. The camera is electrically connected to the controller. The miniature camera can monitor the operation of the automatic fastening bolt 3 and clamping part 4 in real time. The storage compartment 5 is fixed to the upper end face of the flying robot 1. The storage compartment 5 is provided with a storage cavity 6. The storage cavity 6 is provided with a telescopic frame 7 through a telescopic mechanism 10. The telescopic frame 7 is provided with a storage slot 71. The storage slot 71 is provided with two movable bars 11. The movable bars 11 include a connecting end that is connected to the retraction mechanism 9 and a free end away from the connecting end. The retraction mechanism 9 is used to make the two movable bars 11 retract synchronously to the telescopic frame 7 or to make the free ends of the two movable bars 11 move out of the storage slot 71 synchronously so that the movable bars 11 are perpendicular to the telescopic frame 7. The adjustable suspension mechanism 8 is installed on the free end of the movable bars 11. It is used to connect with the high-altitude power line when the flying robot 1 flies to high altitude to achieve synchronous swing of the flying robot 1 and the high-altitude power line. When using the adjustable suspension mechanism 8, the two movable bars 11 need to be rotated and moved out by the retraction mechanism 9 first.

[0050] In the specific implementation method, see [reference]. Figure 2 and Figure 4 As shown, the telescopic mechanism 10 includes a fourth motor 101 installed outside the receiving chamber 5. The fourth motor 101 is a motor whose shaft can rotate in both directions. The output end of the fourth motor 101 is connected to a lead screw 102 that extends into the receiving cavity 6. A lead screw nut seat 103 is installed outside the lead screw 102. The lead screw nut seat 103 is installed on the lower end face of the telescopic frame 7 near the inner end.

[0051] By starting the fourth motor 101 as described above, the output end of the fourth motor 101 drives the lead screw 102 to rotate, which in turn drives the lead screw nut seat 103, thereby enabling the telescopic frame 7 to move out of or into the receiving cavity 6.

[0052] See Figure 4 and Figure 5As shown, the retraction mechanism 9 includes a first gear 91 connected to one end of the upper surface of two movable bars 11 that are close to each other, and a third motor 92 mounted on the upper surface of the telescopic frame 7. The third motor 92 is a motor whose shaft can rotate in both directions. The bottom end of the third motor 92 is connected to a second gear 93 located in the storage slot 71. The second gear 93 meshes with the first gear 91 on one of the movable bars 11, and a third gear 94 is also meshed with the second gear 93. The third gear 94 meshes with the first gear 91 on the other movable bar 11.

[0053] By starting the third motor 92, the second gear 93 can be driven to rotate. The second gear 93 drives the first gear 91 meshing with it to rotate, and at the same time, it drives the third gear 94 meshing with it to rotate. The third gear 94 drives the other first gear 91 meshing with it to rotate, so that the two movable bars 11 can be retracted or moved out synchronously.

[0054] Each group has two sets of first gear 91, second gear 93 and third gear 94, one above the other, to improve the overall drive stability.

[0055] Furthermore, combined Figure 5 As shown, a groove 111 is provided on the side wall of the movable bar 11 and at the end near the first gear 91. After the two movable bars 11 are retracted into the storage slot 71 at the same time, the groove 111 of the movable bar 11 can accommodate the connecting rod between the two second gears 93 and the two third gears 94 to ensure stable retraction and avoid obstruction.

[0056] See Figures 6-7 As shown, the adjustable suspension mechanism 8 includes a suspension ring 81 and a deflection mechanism 82. The suspension ring 81 includes a first semi-circular ring 811 and a second semi-circular ring 812. The first semi-circular ring 811 and the second semi-circular ring 812 are preferably made of insulating material. A mounting plate 813 is fixed to the side wall end of the first semi-circular ring 811. A first motor 814 is mounted on the outside of the mounting plate 813. A connecting rod is connected between the output end of the first motor 814 and the second semi-circular ring 812. The deflection mechanism 82 is used to deflect the suspension ring 81. When the first motor 814 is started, the second semi-circular ring 812 can be deflected by the first motor 814, so that the free ends of the second semi-circular ring 812 and the first semi-circular ring 811 can be opened or closed. When it is necessary to put it on a high-altitude power line, the free ends of the second semi-circular ring 812 and the first semi-circular ring 811 can be opened first. After the putting on is completed, the free ends of the second semi-circular ring 812 and the first semi-circular ring 811 can be closed.

[0057] Because overhead power lines typically hang downwards, not horizontally, see [reference needed]. Figures 6-7As shown, the deflection mechanism 82 includes a concave plate 821 fixed on the movable bar 11. A second motor 822 is installed inside the concave plate 821. The output end of the second motor 822 is connected to the first semi-circular ring 811 through a connecting shaft. When the second motor 822 is started, the first semi-circular ring 811 is deflected by the second motor 822. Since the second semi-circular ring 812 is installed on the first semi-circular ring 811, the entire suspension ring 81 can be deflected so that the upper end or lower end of the inner wall of the suspension ring 81 is in contact with the high-altitude power line. It is suitable for high-altitude power lines hanging downwards.

[0058] In addition, see Figures 6-9 As shown, the adjustable suspension mechanism 8 also includes a wiping pad 83 and a rotating mechanism 84. The wiping pad 83 includes a first pad body 831 and a second pad body 832. The first pad body 831 and the second pad body 832 have a two-layer structure, consisting of a rigid body and a soft pad. The rigid body is located above the soft pad and is set in conjunction with the suspension ring 81. The first pad body 831 is located on the inner wall of the first semi-circular ring 811, and the second pad body 832 is located on the inner wall of the second semi-circular ring 812. The rotating mechanism 84 is used to drive the wiping pad 83 to rotate on the inner wall of the suspension ring 81 so as to perform rotation and wiping when cleaning the dirt on the outside of the high-altitude power lines, thereby improving the cleaning effect.

[0059] The rotating mechanism 84 includes a fifth motor 841 and a semi-circular rack 843. The output end of the fifth motor 841 is connected to a fourth gear 842. There are two semi-circular racks 843, which are respectively fixed to the side walls of the first pad 831 and the second pad 832. The two semi-circular racks 843 can be combined to form a circular rack. The fourth gear 842 can be engaged with either semi-circular rack 843. When the fifth motor 841 is started, the output end of the fifth motor 841 drives the fourth gear 842 to rotate, which in turn drives the engaged semi-circular rack 843 to rotate, thereby driving the wiping pad 83 to rotate to wipe the outer wall of the wire.

[0060] See Figures 8-10 As shown, a second annular guide strip 844 is fixed on the outer circumferential surface of the wiping pad 83. The end of the second annular guide strip 844 is integrally formed with a protrusion 8441. A second annular guide groove 845 is provided on the inner circumferential surface of the suspension ring 81. The second annular guide strip 844 is slidably fitted into the second annular guide groove 845. When the wiping pad 83 rotates, the second annular guide strip 844 with the protrusion 8441 integrally formed rotates along the second annular guide groove 845, which can limit the wiping pad 83, ensure that the wiping pad 83 is in contact with the suspension ring 81 and rotates, and prevent the wiping pad 83 from slipping off.

[0061] Based on the above, in practical use, the flying robot 1 is used for overall lifting and extension, and visual guidance is provided by a camera. Ground personnel can control the movement of the flying robot 1 using a remote control. The following instructions apply to specific operations:

[0062] 1. When tightening bolts: At this time, the flying robot 1 flies to the bolt to be tightened, and then uses the telescopic mechanism 10 to move the telescopic frame 7 out. Then, the retraction mechanism 9 is used to unfold the two movable bars 11. After that, the suspension ring 81 of the adjustable suspension mechanism 8 is hooked and connected to the nearest power line, so that the flying robot 1 can swing synchronously, thereby improving the stability of subsequent operations. Then, the automatic bolt tightening parts 3 installed on the multi-axis robotic arm 2 can be used to tighten the nuts.

[0063] 2. Install online monitoring device: First, use the adjustable suspension mechanism 8 to ensure that the flying robot 1 is connected to the nearest power line. Then, use the clamping part 4 on a multi-axis robotic arm 2 to grab the part to be installed and align the installation position. After that, use the automatic fastening bolt part 3 on another multi-axis robotic arm 2 to tighten the bolt.

[0064] 3. Cleaning the outer wall of high-altitude cables: Place the suspension ring 81 on the outside of the cable, and then as the flying robot 1 moves along the cable, the wiping pad 83 inside the suspension ring 81 can be used for wiping. During the wiping process, the rotating mechanism 84 can be activated simultaneously to make the wiping pad 83 rotate inside the suspension ring 81, thereby improving the thoroughness of the cleaning.

[0065] Example 2:

[0066] like Figure 9 and Figure 11 As shown, in this embodiment, the end of the first semicircular ring 811 is provided with a first annular guide groove 824, and the side of the concave plate 821 facing the first semicircular ring 811 is fixed with a first annular guide strip 823, which is slidably fitted into the first annular guide groove 824.

[0067] As described above, when the second motor 822 drives the suspension ring 81 to deflect, the first annular guide bar 823 moves along the first annular guide groove 824, which can ensure the stability of the overall deflection. Furthermore, ball bearings can be installed in the first annular guide groove 824 to reduce friction.

[0068] In addition to the preferred embodiments described above, the present invention has other embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection claimed by the present invention.

Claims

1. A terminal tool for a live-line working flying robot, characterized in that, include: The flying robot (1) has a housing (5), a take-up and take-down mechanism (9), an adjustable suspension mechanism (8), and two multi-axis robotic arms (2). One of the multi-axis robotic arms (2) has an automatic fastening bolt (3) detachably installed at its end, and the other multi-axis robotic arm (2) has a clamping component (4) detachably installed at its end. Both the automatic fastening bolt (3) and the clamping component (4) have miniature cameras embedded at their ends. The storage compartment (5) is fixed to the upper surface of the flying robot (1), and the storage compartment (5) is provided with a storage cavity (6). The storage cavity (6) is provided with a telescopic frame (7) through a telescopic mechanism (10). The telescopic frame (7) is provided with a storage slot (71). The storage slot (71) is provided with two movable strips (11). The movable strips (11) include a connecting end that is connected to the retraction mechanism (9) and a free end away from the connecting end. The retraction mechanism (9) is used to retract the two movable bars (11) into the storage slot (71) simultaneously or to move the free ends of the two movable bars (11) out of the storage slot (71) simultaneously so that the movable bars (11) are perpendicular to the telescopic frame (7); The adjustable suspension mechanism (8) is installed at the free end of the movable bar (11) and is used to connect with the high-altitude power line when the flying robot (1) flies to a high-altitude operation, so as to realize the synchronous swing of the flying robot (1) and the high-altitude power line. The adjustable suspension mechanism (8) includes a suspension ring (81) and a deflection mechanism (82). The suspension ring (81) includes a first semicircular ring (811) and a second semicircular ring (812). A mounting plate (813) is fixed to the side wall end of the first semicircular ring (811). A first motor (814) is mounted on the outside of the mounting plate (813). A connecting rod is connected between the output end of the first motor (814) and the second semicircular ring (812). The deflection mechanism (82) is used to deflect the suspension ring (81). The deflection mechanism (82) includes a concave plate (821) fixed on the movable bar (11). A second motor (822) is mounted inside the concave plate (821). The output end of the second motor (822) is connected to the first semicircular ring (811) through a connecting shaft.

2. The end-effector tool for live-line working of transmission lines according to claim 1, characterized in that: The adjustable suspension mechanism (8) further includes a wiping pad (83) and a rotating mechanism (84). The wiping pad (83) includes a first pad body (831) and a second pad body (832). The first pad body (831) is disposed on the inner wall of the first semi-circular ring (811), and the second pad body (832) is disposed on the inner wall of the second semi-circular ring (812). The rotating mechanism (84) is used to drive the wiping pad (83) to rotate on the inner wall of the suspension ring (81).

3. The end-effector tool for live-line working of transmission lines according to claim 2, characterized in that: The rotating mechanism (84) includes a fifth motor (841) and a semi-circular rack (843). The output end of the fifth motor (841) is connected to a fourth gear (842). There are two semi-circular racks (843). The two semi-circular racks (843) are respectively fixed to the side walls of the first pad (831) and the second pad (832). The two semi-circular racks (843) can be combined to form a circular rack. The fourth gear (842) can mesh with either semi-circular rack (843).

4. The end-effector tool for live-line working of transmission lines according to claim 3, characterized in that: The second annular guide strip (844) is fixed on the outer circumferential surface of the wiping pad (83). The end of the second annular guide strip (844) is integrally formed with a protrusion (8441). The second annular guide groove (845) is opened on the inner circumferential surface of the suspension ring (81). The second annular guide strip (844) slides in the second annular guide groove (845).

5. The end-effector tool for live-line working of transmission lines according to claim 1, characterized in that: The retraction mechanism (9) includes a first gear (91) connected to one end of the upper surface of two movable bars (11) and a third motor (92) installed on the upper surface of the telescopic frame (7). The bottom end of the third motor (92) is connected to a second gear (93) in the storage slot (71). The second gear (93) meshes with the first gear (91) on one of the movable bars (11), and a third gear (94) is also meshed with the second gear (93). The third gear (94) meshes with the first gear (91) on the other movable bar (11).

6. The end-effector tool for live-line working of transmission lines according to claim 5, characterized in that: The movable strip (11) has a groove (111) on its side wall near the first gear (91), the groove (111) being used to accommodate the second gear (93) and the third gear (94).

7. The end-effector tool for live-line working of transmission lines according to claim 1, characterized in that: The telescopic mechanism (10) includes a fourth motor (101) installed outside the receiving chamber (5). The output end of the fourth motor (101) is connected to a lead screw (102) extending into the receiving cavity (6). A lead screw nut seat (103) is installed outside the lead screw (102). The lead screw nut seat (103) is installed on the lower end face of the telescopic frame (7) near the inner end.

8. The end-effector tool for live-line working of transmission lines according to claim 1, characterized in that: The first semicircular ring (811) has a first annular guide groove (824) at its end. The concave plate (821) has a first annular guide bar (823) fixed on the side facing the first semicircular ring (811). The first annular guide bar (823) is slidably fitted into the first annular guide groove (824).

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