Flying robot for quality inspection of power transmission line

Abstract

The invention discloses a power transmission line quality inspection flying robot which comprises a winding and unwinding mechanism installed on a pushing-direction-adjustable unmanned aerial vehicle, two elastic linear connecting arms are symmetrically wound on the winding and unwinding mechanism, and the ends, away from each other, of the two elastic linear connecting arms extend towards corresponding power transmission lines. One end, far away from the winding and unwinding mechanism, of each elastic linear connecting arm is detachably connected with an assembly seat, and the assembly seat is provided with a follow-up walking chain which extends along the extension direction of the power transmission line. Manual inspection can be effectively replaced, the operability, convenience and efficiency of power transmission line inspection are improved, and safety accidents caused by high-altitude operation are avoided. The method is suitable for the technical field of high-voltage transmission line inspection.

Description

Technical Field

[0001] The invention belongs to the technical field of power line maintenance, and in particular relates to a transmission line quality inspection flying robot. Background Art

[0002] After the high-altitude erection of high-voltage transmission lines, there are deviations during the erection process, or the transmission lines are worn during the erection. Moreover, during the long-term use of high-voltage transmission lines, the surface of the high-voltage transmission lines is damaged due to bird pecking, wind and snow erosion, etc. Therefore, it is necessary to inspect the quality of high-voltage transmission lines to ensure safe power transmission, avoid damage to the lines and affect the power transmission effect, and prevent safety accidents. The commonly used inspection method is that maintenance personnel climb the transmission tower to inspect and maintain the parts of the high-voltage transmission lines supported by the transmission tower. When inspecting high-altitude high-voltage transmission lines not near the transmission tower, maintenance personnel are required to walk along the high-voltage transmission lines and check the quality of the high-voltage transmission lines one by one. This inspection method not only has low inspection efficiency, but also has extremely high risks due to high-altitude operations. Therefore, there is an urgent need for a transmission line quality inspection device that can effectively replace manual inspections, improve the inspection efficiency of high-voltage transmission lines, and avoid safety accidents. Summary of the invention

[0003] The present invention provides a transmission line quality inspection flying robot, which is used to effectively replace manual inspection, improve the operability, convenience and efficiency of transmission line inspection, and avoid safety accidents caused by high-altitude operations.

[0004] To achieve the above purpose, the technical solution adopted by the present invention is as follows: A flying robot for power line quality inspection comprises a reel-and-wind mechanism installed on a push-adjustable unmanned aerial vehicle, two elastic linear connecting arms are symmetrically reeled on the reel-and-wind mechanism, the ends of the two elastic linear connecting arms are remote from each other and extend toward the corresponding power line, an assembly seat is detachably connected to one end of each elastic linear connecting arm remote from the reel-and-wind mechanism, and a running chain extending along the extension direction of the power line is installed on the assembly seat.

[0005] Furthermore, the push-adjustable UAV includes four assembly wing arms which are constructed at the four corners of the fuselage and extend obliquely upward, an angle adjustment motor is installed at one end of each assembly wing arm away from the fuselage, a blade drive motor is installed on the output shaft of the angle adjustment motor, and a propeller is installed on the output shaft of the blade drive motor.

[0006] Furthermore, the reeling and unreeling mechanism includes a mounting shell that is detachably connected to the lower end of the adjustable drone through a fixing ear, and two reeling chambers are formed in the mounting shell. A reeling shaft is rotatably installed in each reeling chamber, and an end of the reeling shaft is coaxially connected to an output shaft of a power motor installed outside the mounting shell, and one end of each elastic linear connecting arm is reeled onto the corresponding reeling shaft.

[0007] Furthermore, guide arms are respectively constructed on both sides of the mounting shell, and a guide channel is constructed in each guide arm. The winding cavity is connected to the outside through the corresponding guide channel, and one end of the elastic linear connecting arm passes through the guide channel and extends out of the mounting shell.

[0008] Furthermore, two limiting openings are symmetrically opened at the upper end of the mounting shell, and the two limiting openings are connected to the two winding chambers one by one. Adapter plates are detachably connected on both sides of the adjustable UAV, and an elastic pressing mechanism is detachably connected to each adapter plate. The lower end of the elastic pressing mechanism is elastically pressed on the winding part of the elastic linear connecting arm through the corresponding limiting opening.

[0009] Furthermore, the elastic pressing mechanism includes a guide tube with one end detachably connected to the adapter plate, the guide tube extends along the radial direction of the winding shaft toward the limiting port, one end of the connecting rod is movably inserted in the guide tube, and a mounting wheel seat is installed on the other end of the connecting rod, and a limiting wheel is rotatably connected to the mounting wheel seat, and the limiting wheel is pressed on the elastic linear connecting arm through the limiting port, and a telescopic spring is installed on the outside of the connecting rod, and the two ends of the telescopic spring are respectively connected to the mounting wheel seat and the guide tube.

[0010] Furthermore, the elastic linear connecting arm includes a plurality of arm bodies arranged in sequence, and the ends of two adjacent arm bodies close to each other are pivoted together through a pivot axis, and first torsion springs are respectively installed at both ends of the pivot axis, and the two ends of each of the first torsion springs are respectively connected to the two arm bodies.

[0011] Furthermore, the bundled running chain includes a plurality of bundled running chain links which are elastically pivoted in sequence along the extension direction of the transmission line, these bundled running chain links are connected to the air guide pipe system, and each of the bundled running chain links has a line passing opening for the transmission line to pass through.

[0012] Furthermore, the wiring harness routing chain link includes a conductor assembly connected between two chain link bodies arranged side by side, and the ends of the two chain link bodies are respectively pivoted to two adjacent chain link bodies through pivot rods, and a second torsion spring is mounted on each of the pivot rods, and the two ends of the second torsion spring are respectively connected to the corresponding chain link bodies.

[0013] Furthermore, the wire assembly includes a wire roller with an assembly cavity, and adapter sleeves are respectively constructed at the axial ends of the wire roller, each of the adapter sleeves is connected to the corresponding chain link body, and the upper ends of the two U-shaped rods are respectively extended into the assembly cavity by two adapter sleeves, and a disc-shaped piston is fixed to the upper end of each U-shaped rod, and the assembly cavity is located between the two disc-shaped pistons. The driving chamber, a connecting spring is installed in the driving chamber, and the two ends of the connecting spring are respectively connected to the two disc-shaped pistons, the lower ends of the two U-shaped rods are close to each other, and the wire passing opening is formed in the space enclosed by the wire roller and the two U-shaped rods, and a conducting air duct connected to the driving chamber is opened on one of the U-shaped rods, and the conducting air duct is connected to the air pipe system.

[0014] Since the present invention adopts the above structure, compared with the prior art, the technical progress achieved is that: the present invention pushes the adjustable drone to a predetermined height by remote control, that is, the adjustable drone is pushed to a position slightly higher than the power transmission line in the area. According to the spacing between adjacent power transmission lines, the reeling and unreeling mechanism is controlled to adaptively retract and release the two elastic linear connecting arms, so that the ends of the two elastic linear connecting arms that are far away from each other are respectively located at the corresponding power transmission lines, and then each of the running chains is controlled to buckle on the corresponding power transmission lines. Afterwards, the propulsion direction of the adjustable drone is controlled so that the adjustable drone moves along the extension direction of the power transmission line. Since the transmission line is long, it will inevitably sag under the action of gravity; in the process of the push-to-adjustable UAV moving, each elastic linear connecting arm and the accompanying running chain will be deformed accordingly with the bending of the transmission line, so that the push-to-adjustable UAV can move smoothly and efficiently on the transmission line, thereby reducing energy consumption compared to the state of the push-to-adjustable UAV being unattached in the air, ensuring that the push-to-adjustable UAV travels a very long distance, and improving the efficiency of inspection. The present invention installs a camera and a mechanical arm on the push-to-adjustable UAV, and uses the camera and the mechanical arm to check the quality of the transmission line; and according to the specific situation of the camera inspection, the reeling and unreeling mechanism can be controlled to move, so that one elastic linear connecting arm is extended and the other elastic linear connecting arm is shortened, so that the push-to-adjustable UAV is offset toward the shortened side of the transmission line until the push-to-adjustable UAV approaches the target transmission line, and further inspects the position with poor quality through the camera and the mechanical arm, and determines the specific damage type at the position, so as to facilitate subsequent targeted treatment. In summary, the present invention can effectively replace manual inspection, improve the operability, convenience and efficiency of transmission line inspection, and avoid safety accidents caused by high-altitude operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0016] In the attached picture: Figure 1 It is a structural schematic diagram of an embodiment of the present invention; Figure 2 It is a structural front view of an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of an adjustable UAV according to an embodiment of the present invention; Figure 4 It is a schematic structural diagram of the connection between the reeling and unreeling mechanism, two elastic linear connecting arms and two elastic pressing mechanisms according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of the reeling and unreeling mechanism connected to two elastic linear connecting arms according to an embodiment of the present invention; Figure 6 This is a schematic structural diagram of a reeling and unreeling mechanism according to an embodiment of the present invention; Figure 7 It is a structural schematic diagram of the connection between the elastic pressing mechanism and the adapter plate according to an embodiment of the present invention; Figure 8 It is a schematic diagram of the partial structure of the elastic linear connecting arm according to an embodiment of the present invention; Fig. 9 This is a schematic diagram of the structure of the running chain according to the embodiment of the present invention; Fig.10 It is a schematic diagram of the structure of the conductor assembly in the running chain according to an embodiment of the present invention; Fig.11 It is a structural cross-sectional view of a conductor assembly in a running chain according to an embodiment of the present invention.

[0017] Labeled parts: 100-push-adjustable drone, 101-fuselage, 102-assembly wing arm, 103-angle adjustment motor, 104-blade drive motor, 105-propeller, 200-rewinding and unwinding mechanism, 201-installation shell, 202-fixing ear, 203-rewinding cavity, 204-guide arm, 205-guide channel, 206-restriction port, 207-power motor, 208-rewinding shaft, 300-elastic linear connecting arm, 301-arm body, 302-pivot shaft, 303-first torsion spring, 304-adapter, 400-elastic top pressure mechanism, 401-guide tube, 402-connecting rod, 403-telescopic spring, 404-mounting wheel seat, 405-limiting wheel, 500-assembly seat, 600-follow-type running chain, 601-chain link body, 602-pivot rod, 603-second torsion spring, 604-conducting wire roller, 605-adapter sleeve, 606-U-shaped rod, 607-disc piston, 608-connecting spring, 609-assembly chamber, 610-driving chamber, 611-conducting airway, 612-wire passing port, 700-adapter plate, 800-main air pipe, 801-sub-air pipe, 802-air pipe joint. DETAILED DESCRIPTION

[0018] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0019] The present invention discloses a flying robot for inspecting the quality of power transmission lines. Figure 1-11As shown, it includes a push-to-adjustable UAV 100, a reeling and unwinding mechanism 200, two elastic linear connecting arms 300 and two running chains 600. Among them, the reeling and unwinding mechanism 200 is installed on the push-to-adjustable UAV 100, and the two elastic linear connecting arms 300 are symmetrically reeled on the reeling and unwinding mechanism 200, and the two elastic linear connecting arms 300 extend toward the corresponding power transmission line at the ends away from each other. An assembly seat 500 is detachably connected to one end of each elastic linear connecting arm 300 away from the reeling and unwinding mechanism 200, and two running chains 600 are respectively installed on the two assembly seats 500, and each running chain 600 extends along the extension direction of the power transmission line. The working principle and advantage of the present invention are: the present invention pushes the adjustable UAV 100 by remote control to make it fly to a predetermined height, that is, the adjustable UAV 100 is pushed to be slightly higher than the power transmission line in the area. According to the spacing between adjacent transmission lines, the retracting and unreeling mechanism 200 is controlled to move, and the two elastic linear connecting arms 300 are adaptively retracted and released, so that the ends of the two elastic linear connecting arms 300 that are far away from each other are respectively located at the corresponding transmission lines, and then each follow-up running chain 600 is controlled to buckle on the corresponding transmission line. After that, the propulsion direction of the push-to-adjustable UAV 100 is controlled so that the push-to-adjustable UAV 100 moves along the extension direction of the transmission line. Since the transmission line is long, the transmission line will inevitably sag under the action of gravity; in the process of the push-to-adjustable UAV 100 moving, each elastic linear connecting arm 300 and the follow-up running chain 600 will be deformed accordingly with the bending of the transmission line, so that the push-to-adjustable UAV 100 can move smoothly and efficiently on the transmission line, thereby reducing energy consumption compared to the state where the push-to-adjustable UAV 100 is not attached in the air, ensuring that the push-to-adjustable UAV 100 travels a very long distance, and improving the efficiency of inspection. The present invention installs a camera and a mechanical arm on the push-to-adjustable drone 100, and uses the camera and the mechanical arm to check the quality of the transmission line; and according to the specific situation of the camera inspection, the reeling and unwinding mechanism 200 can be controlled to move, so that one elastic linear connecting arm 300 is extended and the other elastic linear connecting arm 300 is shortened, so that the push-to-adjustable drone 100 is offset toward the shortened side of the transmission line until the push-to-adjustable drone 100 is close to the target transmission line, and further inspects the position with poor quality through the camera and the mechanical arm, and determines the specific damage type at the position, so as to facilitate subsequent targeted treatment. In summary, the present invention can effectively replace manual inspection, improve the operability, convenience and efficiency of transmission line inspection, and avoid safety accidents caused by high-altitude operations.

[0020] As a preferred embodiment of the present invention, Figure 3As shown, the push-adjustable UAV 100 has the same structure as the currently sold UAVs, both of which include a fuselage 101 and four assembly wing arms 102, which are constructed at the four corners of the fuselage 101, and each assembly wing arm 102 extends obliquely upward. The main difference is that: in this embodiment, an angle adjustment motor 103 is installed at one end of each assembly wing arm 102 away from the fuselage 101, a blade drive motor 104 is installed on the output shaft of the angle adjustment motor 103, and a propeller 105 is installed on the output shaft of the blade drive motor 104; while the existing UAV directly installs the blade drive motor 104 on the assembly wing arm 102, and then a propeller 105 is installed on the output shaft of the blade drive motor 104. In this way, the existing drone can tilt the drone and realize forward, backward, sideways flight and other actions by changing the direction and / or speed of one or more propellers 105; however, when inspecting at the transmission line, if the drone is in direct contact with the transmission line and moves on the transmission line, the friction between the drone and the transmission line is large due to the tilt of the drone, which makes the power consumption of the drone large and causes a certain degree of wear on the transmission line. In this embodiment, the angle adjustment motor 103 is used to control the action of the angle adjustment motor 103 so that the blade drive motor 104 drives the propeller 105 to rotate a certain angle, and the speed of each propeller 105 is controlled, so that the fuselage 101 will not tilt when the push-adjustable drone 100 is performing forward, backward, sideways flight and other actions, so that the fuselage 101 is consistent with the extension direction of the transmission line through the external force of the following form running chain 600 on the transmission line, avoiding wear and other situations. Furthermore, since the angle adjustment motor 103 can adjust the posture of the propeller 105, the propeller 105 has a more sufficient propulsion force on the fuselage 101, thereby providing sufficient kinetic energy guarantee for pushing the adjustable UAV 100 to inspect the power transmission lines.

[0021] As a preferred embodiment of the present invention, Figure 4-6As shown, the reeling and unreeling mechanism 200 includes a mounting shell 201, two reeling shafts 208 and two power motors 207. Among them, two fixing ears 202 are constructed on the mounting shell 201, and the two fixing ears 202 are detachably connected to the lower end of the push-adjustable drone 100 through a plurality of connecting bolts. In this embodiment, two reeling chambers 203 are formed in the mounting shell 201, and two reeling shafts 208 are rotatably installed in the two reeling chambers 203 respectively, and two power motors 207 are installed outside the mounting shell 201, and the output shaft of each power motor 207 is coaxially connected to the end of the corresponding reeling shaft 208. One end of each elastic linear connecting arm 300 is reeled on the corresponding reeling shaft 208, and the other end of the elastic linear connecting arm 300 extends out of the reeling chamber 203. The working principle and advantage of this embodiment are as follows: this embodiment controls the action of the power motor 207 to reel in or unreel the portion of the elastic linear connecting arm 300 located in the reeling chamber 203, thereby adjusting the length of the portion of the elastic linear connecting arm 300 extending out of the reeling chamber 203, so that the running chain 600 connected to the elastic linear connecting arm 300 is aligned with the corresponding transmission line.

[0022] As a preferred embodiment of the present invention, Figure 4-7As shown, guide arms 204 are respectively constructed on both sides of the mounting shell 201, and a guide channel 205 is constructed in each guide arm 204. The winding chamber 203 is connected to the outside through the corresponding guide channel 205, and one end of the elastic linear connecting arm 300 passes through the guide channel 205 and extends out of the mounting shell 201. In this embodiment, the guide channel 205 of the guide arm 204 is used to limit the direction in which the elastic linear connecting arm 300 extends out of the winding chamber 203, so that the elastic linear connecting arm 300 extends outward in the lateral direction of the adjustable UAV 100. In addition, during the process of winding and unwinding, in order to prevent the part of the elastic linear connecting arm 300 wound in the winding chamber 203 from becoming loose and failing to smoothly complete the winding and unwinding, the measures taken are as follows: two limiting openings 206 are symmetrically opened at the upper end of the mounting shell 201, and the two limiting openings 206 are respectively connected to the two winding chambers 203; the adapter plates 700 are detachably connected on both sides of the adjustable UAV 100, and an elastic pressing mechanism 400 is detachably connected to each adapter plate 700, and the lower end of the elastic pressing mechanism 400 extends into the corresponding limiting opening 206, and the lower end of the elastic pressing mechanism 400 is elastically pressed on the winding part of the elastic linear connecting arm 300, thereby limiting the winding part of the elastic linear connecting arm 300, avoiding the situation of elastic automatic unwinding when the outer diameter of the winding part is smaller than the winding chamber 203, and effectively avoiding the winding part from becoming loose. The specific structure of the elastic pressing mechanism 400 of this embodiment is that the elastic pressing mechanism 400 includes a guide tube 401, a connecting rod 402, a telescopic spring 403, a mounting wheel seat 404 and a limiting wheel 405. Among them, one end of the guide tube 401 is detachably connected to the adapter plate 700, and the guide tube 401 extends in the radial direction of the winding shaft 208 toward the limiting opening 206; one end of the connecting rod 402 is movably inserted in the guide tube 401, and the other end of the connecting rod 402 is equipped with a mounting wheel seat 404, and the limiting wheel 405 is rotatably connected to the mounting wheel seat 404, and the limiting wheel 405 passes through the limiting opening 206 and presses on the elastic linear connecting arm 300; the telescopic spring 403 is sleeved outside the connecting rod 402, and the two ends of the telescopic spring 403 are respectively connected to the mounting wheel seat 404 and the guide tube 401. The telescopic spring 403 of this embodiment is always in a state of elastic contraction and energy storage. Under the action of the telescopic spring 403, the wheel seat 404 is installed to drive the limiting wheel 405 thereon to elastically press on the winding part of the elastic linear connecting arm 300, and as the elastic linear connecting arm 300 is wound or unwound, the limiting wheel 405 moves outward or inward. At the same time, the limiting wheel 405 is always elastically pressed on the elastic linear connecting arm 300, ensuring that the winding part of the elastic linear connecting arm 300 remains in a compact winding state.The guide tube 401, the connecting rod 402 and the telescopic spring 403 of this embodiment can also be replaced by an electric cylinder, the cylinder body of the electric cylinder is connected to the adapter plate 700, and the electric cylinder rod of the electric cylinder is connected to the mounting wheel seat 404. In the process of winding and unwinding the elastic linear connecting arm 300, the electric cylinder is controlled to move so that the limiting wheel 405 always abuts against the winding part of the elastic linear connecting arm 300. In this embodiment, the winding part of the elastic linear connecting arm 300 is limited by the limiting wheel 405. In the process of the winding shaft 208 rotating, the winding part of the elastic linear connecting arm 300 rotates together with the winding shaft 208 and can be regarded as a whole. The elastic linear connecting arm 300 is located outside the limit of the limiting wheel 405, and can be gradually wound up or gradually extended out of the winding chamber 203 under the winding or unwinding of the winding part. The elastic pressing mechanism 400 of this embodiment uses a guide tube 401, a connecting rod 402, and a telescopic spring 403 to control the extension and retraction, which is a passive restriction on the reeling part of the elastic linear connecting arm 300; and uses an electric cylinder to control the pressure of the limiting wheel 405, which is an active restriction on the reeling part of the elastic linear connecting arm 300.

[0023] As a preferred embodiment of the present invention, Figure 8 As shown, the elastic linear connecting arm 300 includes a plurality of arm bodies 301 arranged in sequence, and the adjacent ends of two arm bodies 301 close to each other are pivoted together through a pivot shaft 302, and first torsion springs 303 are respectively installed at both ends of the pivot shaft 302, and the two ends of each first torsion spring 303 are respectively connected to the two arm bodies 301 close to each other. The arm body 301 of the elastic linear connecting arm 300 that is far away from the end pushed toward the adjustable drone 100 is pivoted with a transfer seat 304 through another pivot shaft 302, and first torsion springs 303 are also respectively installed at both ends of the pivot shaft 302, and the transfer seat 304 is detachably connected to the corresponding assembly seat 500. In this embodiment, since the elastic linear connecting arm 300 is connected by a plurality of arm bodies 301, and these arm bodies 301 are elastically pivoted together, they can be wound or unwound by the winding and unwinding mechanism 200 according to the required length. Furthermore, when the elastic linear connecting arm 300 moves with the push-adjustable UAV 100, when the running chain 600, the push-adjustable UAV 100 or the elastic linear connecting arm 300 is subjected to external force and shakes, the elastic linear connecting arm 300 will undergo a certain degree of elastic deformation, thereby resisting and absorbing the external force to a certain extent. Furthermore, when the distance between the transmission line and the push-adjustable UAV 100 decreases, the elastic linear connecting arm 300 undergoes adaptive elastic bending to avoid causing a large amount of pulling on the transmission line.

[0024] As a preferred embodiment of the present invention, Fig. 9As shown, the follow-up running chain 600 includes a plurality of cable bundle running chain links, which are elastically pivoted together in sequence along the extension direction of the transmission line, and are connected to the air duct system, each cable bundle running chain link has a cable passage 612 for the transmission line to pass through, and the transmission line passes through each cable passage 612 in sequence, thereby ensuring that the transmission line is connected to the follow-up running chain 600, so that the push-to-adjustable UAV 100 can glide smoothly along the transmission line; and when the transmission line undergoes a certain degree of ups and downs, the cable bundle running chain links on the follow-up running chain 600 undergo a vertical angle change, so that the shape of the follow-up running chain 600 is consistent with the shape of the transmission line, ensuring that the follow-up running chain 600 passes through the transmission line smoothly and avoids the generation of large friction.

[0025] As a preferred embodiment of the present invention, Fig.10 , 11 As shown, the cable routing chain includes a conductor assembly and two chain link bodies 601. The two chain link bodies 601 are arranged side by side, and the conductor assembly is connected between the two chain link bodies 601. The ends of the two chain link bodies 601 are respectively pivoted to the two adjacent chain link bodies 601 through the pivot rod 602, that is, the two adjacent chain link bodies 601 located on the same side are pivoted together through the pivot rod 602; a second torsion spring 603 is mounted on each pivot rod 602, and the two ends of the second torsion spring 603 are respectively connected to the corresponding two chain link bodies 601. The conductor assembly includes a conductor roller 604 and two U-shaped rods 606, wherein the conductor roller 604 has an assembly cavity 609 that coincides with its axis, and adapter sleeves 605 are respectively constructed at the axial ends of the conductor roller 604, and the axes of the two adapter sleeves 605 coincide with the axis of the conductor roller 604, and each adapter sleeve 605 is connected to the corresponding chain link body 601. The upper ends of the two U-shaped rods 606 described in this embodiment are respectively extended into the assembly cavity 609 by two adapter sleeves 605. A disc-shaped piston 607 is fixed to the upper end of each U-shaped rod 606 (the end extending into the assembly cavity 609), and the portion of the assembly cavity 609 located between the two disc-shaped pistons 607 is a drive chamber 610. A connecting spring 608 is installed in the drive chamber 610, and the two ends of the connecting spring 608 are respectively connected to the ends of the two disc-shaped pistons 607 that are close to each other. The lower ends of the two U-shaped rods 606 in this embodiment are close to each other, and a wire passing opening 612 is formed in the space enclosed by the wire roller 604 and the two U-shaped rods 606. An air passage 611 is opened on one of the U-shaped rods 606, and the air passage 611 is connected to the drive chamber 610, and the air passage 611 is connected to the air pipe system. Fig. 9As shown, the air guide system of this embodiment includes a main air pipe 800, on which a plurality of branch air pipes 801 are constructed, each branch air pipe 801 is connected to the corresponding guide air channel 611, and an air pipe joint 802 is constructed on the main air pipe 800; and the main air pipe 800 of this embodiment is a hose made of rubber or polyethylene material, and the air pipe joint 802 is connected to the air source installed on the push-adjustable UAV 100 through an air guide hose (not shown in the figure). The air source is generally a high-pressure gas storage tank or an air pump, and the air guide hose is connected to an exhaust pipe, and the first solenoid valve and the second solenoid valve are respectively installed on the air guide hose and the exhaust pipe. The working principle and advantages of this embodiment are as follows: this embodiment controls the first solenoid valve to open, the second solenoid valve to close, and the gas source to ventilate the gas pipe system, so that the high-pressure gas enters each driving cavity through the gas pipe system, and then drives the two U-shaped rods 606 to move away from each other, so that the wire-passing port 612 is opened; then the adjustable UAV 100 is controlled to move, so that it drives the following-type running chain 600 to move, so as to achieve the purpose of the transmission line entering the wire-passing port 612 or the transmission line being detached from the wire-passing port 612. After the action is completed, the gas source is closed, the second solenoid valve is opened, and the high-pressure gas in the driving cavity is discharged, so that the two U-shaped rods 606 are close to each other under the action of the connecting spring 608, so as to achieve the purpose of closing the opening of the wire-passing port 612. In this embodiment, the cross-section of the assembly cavity 609 is a regular polygon, the cross-section of the disc-shaped piston 607 is also a regular polygon, and the disc-shaped piston 607 is adapted in the assembly cavity 609, thereby preventing the disc-shaped piston 607 and the conductor roller 604 from rotating relative to each other, causing the shape of the wire passing opening 612 to change and the transmission line to be stuck at the wire passing opening 612. During the process of assembling the running chain 600 with the transmission line and moving on the transmission line, when the transmission line fluctuates, the contact angle between the transmission line and the conductor roller 604 and the two U-shaped rods 606 changes, resulting in an increase in the friction between the transmission line and the conductor assembly. In order to overcome the above-mentioned defects, the measures taken are as follows: a first sleeve is rotatably mounted on the outside of the conductor roller 604, and the axial ends of the first sleeve respectively extend to the axial ends of the conductor roller 604, and a second sleeve is rotatably mounted on the lateral part of the lower end of each U-shaped rod 606. When the transmission line passes through the line opening 612, the transmission line is in direct contact with the first sleeve and the two second sleeves, and with the relative movement of the wiring harness running chain link and the transmission line, the first sleeve and the second sleeve rotate, thereby reducing the friction and avoiding wear on the transmission line.

[0026] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein with equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the scope of protection of the claims of the present invention.

Claims

1. A transmission line quality inspection flying robot, characterized in that: It includes a reeling and unwinding mechanism installed on a push-adjustable UAV, two elastic linear connecting arms are symmetrically reeled on the reeling and unwinding mechanism, the two elastic linear connecting arms extend away from each other toward the corresponding power transmission line, and an assembly seat is detachably connected to one end of each elastic linear connecting arm away from the reeling and unwinding mechanism, and a running chain extending along the extension direction of the power transmission line is installed on the assembly seat.

2. A transmission line quality inspection flying robot according to claim 1, characterized in that: The push-adjustable UAV comprises four assembly wing arms which are arranged at the four corners of the fuselage and extend obliquely upward, an angle adjustment motor is installed at one end of each assembly wing arm away from the fuselage, a blade drive motor is installed on the output shaft of the angle adjustment motor, and a propeller is installed on the output shaft of the blade drive motor.

3. A transmission line quality inspection flying robot according to claim 1, characterized in that: The reeling and unreeling mechanism includes a mounting shell detachably connected to the lower end of the adjustable drone through a fixing ear, two reeling chambers are formed in the mounting shell, a reeling shaft is rotatably installed in each reeling chamber, an end of the reeling shaft is coaxially connected to an output shaft of a power motor installed outside the mounting shell, and one end of each elastic linear connecting arm is reeled onto the corresponding reeling shaft.

4. A transmission line quality inspection flying robot according to claim 3, characterized in that: Guide arms are respectively constructed on both sides of the installation shell, and a guide channel is constructed in each guide arm. The winding cavity is connected with the outside through the corresponding guide channel, and one end of the elastic linear connecting arm passes through the guide channel and extends out of the installation shell.

5. A transmission line quality inspection flying robot according to claim 4, characterized in that: Two limiting openings are symmetrically opened at the upper end of the mounting shell, and the two limiting openings are connected to the two winding chambers one by one. Adapter plates are detachably connected on both sides of the adjustable UAV, and an elastic pressing mechanism is detachably connected to each adapter plate. The lower end of the elastic pressing mechanism is elastically pressed on the winding part of the elastic linear connecting arm through the corresponding limiting opening.

6. A transmission line quality inspection flying robot according to claim 5, characterized in that: The elastic pressing mechanism includes a guide tube with one end detachably connected to the adapter plate, the guide tube extends along the radial direction of the winding shaft toward the limiting opening, one end of the connecting rod is movably inserted in the guide tube, and a mounting wheel seat is installed on the other end of the connecting rod, and a limiting wheel is rotatably connected to the mounting wheel seat, and the limiting wheel is pressed on the elastic linear connecting arm through the limiting opening, and a telescopic spring is sleeved on the outside of the connecting rod, and the two ends of the telescopic spring are respectively connected to the mounting wheel seat and the guide tube.

7. A transmission line quality inspection flying robot according to claim 1, characterized in that: The elastic linear connecting arm includes a plurality of arm bodies arranged in sequence, and the adjacent ends of the two arm bodies are pivoted together through a pivot axis, and first torsion springs are respectively installed at both ends of the pivot axis, and the two ends of each first torsion spring are respectively connected to the two arm bodies.

8. The transmission line quality inspection flying robot according to claim 1, characterized in that: The following type running chain includes a plurality of cable bundle running chain links which are elastically pivoted in sequence along the extension direction of the transmission line. These cable bundle running chain links are connected to the air guide pipe system, and each of the cable bundle running chain links has a line passing port for the transmission line to pass through.

9. A transmission line quality inspection flying robot according to claim 8, characterized in that: The cable routing chain link includes a conductor assembly connected between two chain link bodies arranged side by side. The ends of the two chain link bodies are respectively pivoted to two adjacent chain link bodies through pivot rods. A second torsion spring is mounted on each of the pivot rods, and the two ends of the second torsion spring are respectively connected to the corresponding chain link bodies.

10. A transmission line quality inspection flying robot according to claim 9, characterized in that: The wire assembly includes a wire roller with an assembly cavity, and adapter sleeves are respectively constructed at the axial ends of the wire roller, each of the adapter sleeves is connected to the corresponding chain link body, and the upper ends of the two U-shaped rods are respectively extended into the assembly cavity by two adapter sleeves, and a disc-shaped piston is fixed to the upper end of each U-shaped rod, and the assembly cavity is located between the two disc-shaped pistons. The driving chamber, a connecting spring is installed in the driving chamber, and the two ends of the connecting spring are respectively connected to the two disc-shaped pistons, the lower ends of the two U-shaped rods are close to each other, and the wire passing port is formed in the space surrounded by the wire roller and the two U-shaped rods, and a conducting air channel connected to the driving chamber is opened on one of the U-shaped rods, and the conducting air channel is connected to the air pipe system.

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