Light and small tower-mounted autonomous inspection device for ultra-high voltage transmission line

Abstract

The invention provides a light and small tower-staying autonomous inspection device for ultra-high voltage transmission lines, relates to the technical field of transmission line inspection, and aims to solve the problems of low efficiency and high cost due to the fact that an electric wire inspection robot in the prior art needs to be manually assisted to cross obstacles. The device comprises a control box, and two walking devices are arranged on the control box at intervals. The walking device comprises a top frame, walking wheels, a mounting plate, a box body, a moving column, a first connecting piece, a second connecting piece, a lifting device for driving the moving column to ascend and descend, auxiliary wheels, a bottom frame and a second motor for driving the control box to rotate. The double walking devices alternately rotate to cross obstacles and cooperate with alternate opening and closing of the moving columns and lifting of the auxiliary wheels, obstacles such as damping hammers can be bypassed without manual assistance, continuous inspection is guaranteed, and efficiency is greatly improved.

Description

Technical Field

[0001] This invention relates to the field of power transmission line inspection technology, specifically to a lightweight, small-scale, autonomous tower inspection device for ultra-high voltage and extra-high voltage power transmission lines. Background Technology

[0002] Ultra-high voltage (UHV) and extra-high voltage (UHV) transmission lines are the core backbone of energy transmission. Long-term exposure to complex environments makes them prone to faults such as broken conductor strands and damaged insulators, necessitating regular inspections to ensure safety. Current inspection methods have shifted from manual to automated, with inspection robots becoming one of the mainstream devices due to their ability to walk along conductors and carry various sensors for precise detection. These robots primarily consist of walking, gripping, control, energy, and detection modules, enabling autonomous movement and the transmission of equipment status information. Vibration damping hammers (such as FD and FR types) on ultra-high voltage and extra-high voltage lines are a major obstacle for inspection robots. Vibration damping hammers, consisting of a hammerhead, steel strand, and clamps, are used to suppress conductor vibration. However, existing inspection robots struggle to traverse them due to several key shortcomings: the walking mechanism is only compatible with smooth conductors and cannot cross the irregular structure of the vibration damping hammers; the obstacle-crossing mechanism design is mismatched with the size and layout of the vibration damping hammers; weight limitations result in insufficient obstacle-crossing drive and strength; low accuracy in recognizing and planning paths for dynamic vibration damping hammers; and poor clamping stability during attitude adjustments, leading to easy tilting and falls. The aforementioned problems limit the inspection range of robots, requiring manual assistance to overcome obstacles, resulting in low efficiency and high cost. Therefore, the development of a lightweight, small-sized autonomous tower inspection device that can effectively cross vibration damping hammers has become an urgent need to break through the current inspection bottleneck. Summary of the Invention

[0003] In view of this, the present invention provides a lightweight and compact autonomous tower inspection device for ultra-high voltage transmission lines, in order to solve the problems of low efficiency and high cost of existing power line inspection robots that require manual assistance to cross obstacles.

[0004] The technical solution adopted in this invention is as follows: A lightweight, miniature, autonomous tower inspection device for ultra-high voltage and extra-high voltage transmission lines includes a control box. Two traveling devices are spaced apart on the control box. Each traveling device includes: The top frame and the traveling wheels are provided with mounting plates at both ends of the bottom of the top frame, and first connecting members are provided on the two mounting plates respectively. The two ends of the traveling wheels are rotatably connected to the two mounting plates respectively, and the traveling wheels are driven by a first motor provided on the mounting plates. The housing is located below two mounting plates. Two openings are provided through the housing. Movable columns are slidably connected to the inner sides of the two openings. The two movable columns are respectively opposite to the two mounting plates, and each of the two movable columns is provided with a second connector. The second connector cooperates with the first connector to realize the detachable connection between the movable column and the housing. A lifting device is provided inside the housing to drive two movable columns to rise or fall respectively, so that the two second connecting parts rise or fall respectively, so as to realize the connection or separation of the two movable columns from the two mounting plates respectively. The auxiliary wheel is rotatably connected to the mounting frame of the housing and is located below the traveling wheel. The mounting frame is raised and lowered by a lifting device located inside the housing. The base frame is fixed to the bottom of the housing, and a second motor is provided at the bottom of the base frame. The output shaft of the second motor is fixedly connected to the control box.

[0005] In this technical solution, it should be noted that the control box is the core of the overall device, responsible for coordinating the actions of various components; the two walking devices are the actuators for the device to move along the power line and overcome obstacles; the top frame supports the mounting plate; the walking wheels are the load-bearing and moving components, and the first motor provides driving force for the walking wheels; the mounting plate is used to install the walking wheels and the first connecting piece; the box provides installation space for components such as the moving column and the lifting device; the moving column opens and closes the walking device by connecting / disconnecting with the mounting plate; the second connecting piece cooperates with the first connecting piece to achieve a detachable connection between the moving column and the mounting plate; the lifting device drives the moving column to rise and fall to complete the connection / disconnection action; the auxiliary wheel cooperates with the walking wheel to clamp the power line and provide support; the mounting frame is used to install the auxiliary wheel; the lifting device drives the auxiliary wheel to rise and fall to adjust the clamping force; the base frame is used to fix the second motor; the second motor drives the control box to rotate, providing rotational power for the walking device to overcome obstacles. Working principle: In the initial state, each walking device is connected to the mounting plate through only one moving column (defined as the first moving column), while the other moving column (defined as the second moving column) is separated from the mounting plate with a gap, forming a "closed at one end and open at the other" state. When encountering obstacles such as shock absorbers, the second motor of the walking device (defined as the first walking device) near the obstacle is activated. Its output shaft drives the control box and the walking device away from the obstacle to rotate synchronously. The walking device away from the obstacle (defined as the second walking device) passes through the gap between the second moving column and the mounting plate, bypasses the wire, and disengages. Subsequently, the lifting device drives the second moving column of the second walking device to rise and connect with the mounting plate, while the first moving column descends and separates from the mounting plate, forming a new gap. After the control box rotates 180 degrees, the wire passes through the new gap and is inserted between the walking wheel and the auxiliary wheel of the second walking device. The lifting device drives the auxiliary wheel to rise, which, together with the walking wheel, clamps the wire to form a stable fulcrum. Finally, the same method is used to drive the walking device near the obstacle to rotate 180 degrees, completing the obstacle crossing. Beneficial effects: The device employs an alternating rotational obstacle-crossing mechanism with dual walking devices, along with interchangeable and detachable movable columns and liftable auxiliary wheels. This allows the device to bypass obstacles such as shock absorbers by rotating. The alternating opening and closing of the movable columns provides the necessary space for rotating obstacle crossing, while the lifting of the auxiliary wheels ensures the stability of the fulcrum during rotation. The coordinated operation of these three components achieves a smooth transition in obstacle-crossing actions, ensuring the continuity of the inspection process, effectively avoiding the tedious manual handling, and significantly improving inspection efficiency. Furthermore, the rotational obstacle-crossing method enhances the crossing efficiency.

[0006] Preferably, the first connector includes a slot at the bottom of the mounting plate, and a fixing groove communicating with the slot is provided through the side wall of the mounting plate; the second connector includes a plug that can be inserted into the slot, the plug has a cavity inside, a piston plate is embedded at the top of the moving column, the piston plate is embedded in the cavity, and a mounting groove communicating with the cavity is also provided through the side wall of the plug, a fixing block that cooperates with the fixing groove is slidably embedded in the mounting groove, and the fixing block is connected to the inner wall of the cavity by a first spring.

[0007] In this technical solution, it should be noted that in the first connecting component, the slot is used to accommodate the insert block, and the fixing groove is used to cooperate with the fixing block to achieve positioning and fixation; in the second connecting component, the insert block is used to insert into the slot to achieve initial docking, the cavity provides space for piston plate movement and air compression, the piston plate is used to compress the air in the cavity to generate pressure, the mounting groove is used to install the fixing block, and the fixing block is inserted into the fixing groove to achieve a firm connection between the moving column and the mounting plate, and the first spring is used for the reset of the fixing block. Working principle: When it is necessary to connect the moving column and the mounting plate, the lifting device drives the moving column to rise, causing the insert block to insert into the slot of the mounting plate; after the insert block is in place, the moving column continues to rise, pushing the piston plate to move upward in the cavity of the insert block, compressing the air in the cavity to form pressure; the pressure pushes the fixing block to slide outward along the mounting groove until it is inserted into the fixing groove of the mounting plate, completing the connection between the two; when separating, the moving column descends, causing the piston plate to move downward, the pressure in the cavity decreases, the first spring pulls the fixing block out of the fixing groove and back into the mounting groove, and the insert block disengages from the slot with the moving column. Beneficial effects: By setting up a structure that combines a pneumatically driven fixing block with a fixing groove, the connection and separation of the moving column and the mounting plate are achieved without the need for additional driving components.

[0008] Preferably, the movable column is connected to the inner wall of the housing via a second spring.

[0009] In this technical solution, it should be noted that the second spring is used to assist the moving column in resetting after the lifting action. Working principle: When the lifting device drives the moving column upward, the second spring is stretched or compressed to store elastic potential energy; when the lifting device removes the driving force, the second spring releases the elastic potential energy, pulling or pushing the moving column back to its initial position. Beneficial effects: By setting a second spring to assist the moving column in resetting, automatic resetting of the moving column can be achieved without an additional driving mechanism, simplifying the device structure, reducing energy consumption, and ensuring the accuracy and timeliness of the moving column's resetting action.

[0010] Preferably, the lifting device includes a base plate located at the bottom of the housing and extending along the length of the housing. The inner wall of the housing has a groove, and the side wall of the base plate has a slide rail slidably embedded in the groove. A lifting plate is fixedly connected to the top of the base plate. The lifting plate has a first guide surface and a second guide surface at its two ends along its length. The first and second guide surfaces are inclined and form a V-shape. The bottoms of the two moving columns can contact the first and second guide surfaces respectively. The lifting device also includes a moving assembly for driving the base plate to move along the length of the housing, allowing the two moving columns to rise or fall by engaging with the first and second guide surfaces respectively.

[0011] In this technical solution, it should be noted that in the lifting device, the base plate supports the lifting plate and drives its movement; the sliding groove and slide rail cooperate to provide guidance and limit for the movement of the base plate; the lifting plate is used to transmit power through the guide surface; the first and second guide surfaces are inclined structures, driving the lifting of the moving column by pressing the bottom of the column; the moving component is used to drive the base plate to move along the length of the box. Working principle: The moving component drives the base plate to move along the length of the box, and the base plate drives the lifting plate at the top to move synchronously; when the lifting plate moves, the first or second guide surface at both ends contacts the bottom of the corresponding moving column and generates a pressing effect. Since the guide surface is an inclined structure, the pressing force is decomposed into a vertical component, pushing the moving column to slide upwards or downwards along the opening of the box, thus realizing the lifting of the moving column. Beneficial effects: By setting a lifting plate with inclined first and second guide surfaces and a sliding groove-slide rail guiding structure, the horizontal movement of the base plate is converted into the vertical lifting of the moving column.

[0012] Preferably, the moving component includes a rack fixed to the base plate, and a gear rotatably connected to the housing, meshing with the rack, the gear being driven by a third motor.

[0013] In this technical solution, it should be noted that in the moving component, the rack and pinion work together to transmit power; the pinion converts the rotational motion of the third motor into the linear motion of the rack; the third motor provides the driving force for the movement of the base plate. Working principle: After the third motor starts, it rotates forward or reverse, driving the gear connected to it to rotate synchronously; the gear meshes with the rack on the base plate, converting the rotational motion of the gear into the horizontal linear motion of the rack, thereby driving the base plate to move to the right or left along the length of the housing; the movement of the base plate drives the lifting plate to move, pressing the corresponding moving column through the first or second guide surface, thus achieving the lifting and lowering of the moving column.

[0014] Preferably, the top of the lifting plate is provided with a third guide surface and a fourth guide surface, the third guide surface and the fourth guide surface are inclined, and the two moving columns are respectively located on one side of the third guide surface and the fourth guide surface; the two ends of the lifting plate are respectively provided with horizontal surfaces, and the two horizontal surfaces are in contact with the bottom of the first guide surface and the second guide surface.

[0015] In this technical solution, it should be noted that the walking device closer to the shock absorber is defined as the first walking device, and the one farther away from the shock absorber is defined as the second walking device. Initially, the first moving columns of both the first and second walking devices are inserted into the slots of their corresponding mounting plates, meaning the first moving column is connected to the corresponding mounting plate, while the second moving column is separate from it. At this time, the bottom of the first moving column is located at the top of the lifting plate and to the right of the third guide surface. When an obstacle is encountered, the third motor of the second walking device first drives the gear to rotate clockwise, which in turn drives the base plate to move to the right, and then the lifting plate to move to the right. At this time, the bottom of the first moving column is pressed by the third guide surface, causing the first moving column to move upwards. This is because the insert block at the top of the first moving column... The device is already positioned by the slot. At this point, the moving column moves upward, which in turn moves the mounting bracket and its wheels upward, increasing the gap between the wheels and the auxiliary wheels. This releases the wire. Simultaneously, due to the horizontal design, when the lifting plate moves to the left, the second moving column first contacts the horizontal surface, not the second guide surface, and therefore does not rise. Also, because the other mounting plate (the one at the top of the second moving column) moves upward simultaneously, the gap between the second moving column and its corresponding mounting plate also increases, providing space for the wire to pass through. Then, the lifting device of the first traveling device moves the mounting bracket and auxiliary wheels upward, causing the wheels and auxiliary wheels of the first traveling device to clamp the wire, forming a fulcrum. Then, the first traveling device is activated. The second motor drives the control box to rotate clockwise, which in turn causes the second traveling device to rotate clockwise. Because there is a gap between the second moving column of the second traveling device and the mounting plate, allowing the wire to pass through, the second traveling device will detach from the wire after the control box rotates. Once detached, the first moving column of the second traveling device (connected to the mounting plate) will face the wire. To prevent the first moving column from obstructing the wire from getting stuck between the traveling wheel and auxiliary wheel of the second traveling device, the third motor on the second traveling device is activated. The third motor drives the gears to rotate counterclockwise, thereby moving the base plate to the left. At this point, the first moving column will first detach from the third guide surface and, through the action of the second spring, move downwards. The moving column first drives the mounting plate downwards. As the lifting plate continues to move to the left, the first moving column gradually moves onto the first guide surface and descends. The top of the first moving column also descends synchronously within the cavity of the insertion block. At this time, the fixing block at the top of the first moving column gradually retracts from the fixing slot on the mounting plate, but not completely. That is, part of the fixing block of the first moving column is still stuck in the corresponding fixing slot of the mounting plate. In other words, the first moving column is not completely detached from the mounting plate and still serves as a connection. Correspondingly, the second moving column rises under the action of the second guide surface, and the fixing block of the first moving column has been inserted into the corresponding fixing slot, completing the connection. The lifting plate continues to move to the left, and the insertion block of the first moving column completely disengages from the slot, creating a gap for the wire to pass through.The second moving fixed block is fully inserted into the fixing groove of the mounting plate, completing the connection. After the control box rotates 180 degrees, the wire is inserted from the gap between the first moving column on the second traveling device and the corresponding mounting plate into the space between the traveling wheel and the auxiliary wheel on the second traveling device, and the second traveling device completely passes over the shock absorber. Then, the above operation is repeated, so that the first traveling device also passes over the shock absorber by rotating. In this solution, by integrating the third guide surface, the fourth guide surface, and the horizontal surface onto the same lifting plate, the single horizontal movement of the lifting plate can synchronously drive the first and second moving columns to alternately rise and fall, thereby completing the connection or separation switching between the two and the corresponding mounting plate. There is no need to set up independent drive mechanisms for the two moving columns, realizing the design of "one plate drive, two columns linkage". The third and fourth guide surfaces precisely control the rising and falling amplitude and timing of the moving columns, while the horizontal surface ensures that the moving column on the non-moving side does not move temporarily, effectively avoiding the movement interference of the two moving columns during the connection / separation process. The switching action of "first moving column separation - second moving column connection" or "second moving column separation - first moving column connection" can be completed by a single movement of the lifting plate.

[0016] Preferably, each of the movable columns is rotatably connected to a roller at its bottom.

[0017] In this technical solution, it should be noted that when the lifting plate moves and drives the moving column to rise and fall through the guide surface, the rollers at the bottom of the moving column roll on the surface of the lifting plate, converting the sliding friction between the moving column and the lifting plate into rolling friction. Beneficial effects: By setting rollers, the frictional resistance between the moving column and the lifting plate is significantly reduced, making the lifting action of the moving column smoother, reducing component wear, extending the service life of the device, and reducing drive energy consumption.

[0018] Preferably, the lifting device includes an electric telescopic rod, which is fixed inside the housing, and the telescopic end of the electric telescopic rod is connected to the mounting frame.

[0019] Preferably, the top frame is equipped with a first camera that is electrically connected to the control box.

[0020] In this technical solution, it should be noted that the first camera captures real-time images of the wiring status above and around the top frame (such as broken wire strands, loose hardware, etc.), and transmits the image data to the control box via electrical connection. The control box can perform preliminary data processing or transmit the data to the ground control center. Beneficial effects: By installing the first camera on the top frame, real-time monitoring of the wiring environment above the device is achieved, facilitating the timely detection of potential wiring faults and improving the comprehensiveness and timeliness of inspections.

[0021] Preferably, a second camera electrically connected to the bottom of the control box is provided therewith.

[0022] In this technical solution, it should be noted that the second camera captures real-time images of the lines and obstacles (such as shock absorbers) below the control box, transmitting the data to the control box. This data complements the images from the first camera, providing comprehensive coverage of the surrounding wiring environment. Beneficial effects: By using the second camera in conjunction with the first camera, omnidirectional image acquisition of the areas above and below the transmission lines is achieved, avoiding blind spots in inspections and further improving the completeness of inspections and fault identification capabilities.

[0023] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are: 1. In this invention, an obstacle-crossing method using alternating rotation of dual walking devices is employed, along with movable columns that can be alternately connected and separated, and liftable auxiliary wheels. This allows the device to bypass obstacles such as shock absorbers by rotating. The alternating opening and closing of the movable columns provides the necessary space for rotating obstacle crossing, while the lifting of the auxiliary wheels ensures the stability of the fulcrum during rotation. The three components work together to achieve a smooth connection of obstacle-crossing actions, which not only ensures the continuity of the inspection process and effectively avoids the tedious operation of manual assistance, but also greatly improves inspection efficiency. Furthermore, the obstacle-crossing method using rotation increases the crossing efficiency.

[0024] 2. In this invention, by integrating the third guide surface, the fourth guide surface, and the horizontal surface onto the same lifting plate, the first and second moving columns can be synchronously driven to alternately rise and fall using a single horizontal movement of the lifting plate. This allows for the connection or separation of the two columns from their corresponding mounting plates, eliminating the need for separate drive mechanisms for each column and achieving a "one-plate drive, two-column linkage" design. The third and fourth guide surfaces precisely control the rising and falling amplitude and timing of the moving columns, while the horizontal surface ensures that the non-moving moving column is not linked, effectively avoiding interference between the two moving columns during the connection / separation process. This allows the switching action of "first moving column separation - second moving column connection" or "second moving column separation - first moving column connection" to be completed with a single movement of the lifting plate. Attached Figure Description

[0025] The present invention will be described by way of example and with reference to the accompanying drawings, wherein: Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a frontal three-dimensional structural diagram of the present invention; Figure 3 This is a three-dimensional structural diagram of the control box of the present invention after it drives the second walking device to rotate 90 degrees. Figure 4 for Figure 3 A side-view stereoscopic structure diagram showing the first moving column lowered and the second moving column raised. Figure 5This is a three-dimensional structural diagram of the box body of the second walking device of the present invention after cross-section; Figure 6 for Figure 5 A three-dimensional structural diagram of the structure without a base frame; Figure 7 for Figure 6 A three-dimensional structural diagram of the first moving column when it moves to the third guide surface; Figure 8 for Figure 7 A three-dimensional structural diagram showing the structure after the middle base plate moves to the left and the first moving column moves to the first guide surface; Figure 9 for Figure 8 A three-dimensional structural diagram showing the first moving column after the middle base plate continues to move to the left and moves to the horizontal plane; Figure 10 This is a cross-sectional perspective view of the three-dimensional structure of the present invention when the movable column and the mounting plate are separated. Figure 11 This is a cross-sectional perspective view of the three-dimensional structure of the movable column and the mounting plate of the present invention.

[0026] Wherein: 1-Shock damper, 2-First moving column, 21-Insertion block, 22-Second spring, 23-Roller, 24-Mounting groove, 25-Fixing block, 26-First spring, 27-Piston plate, 28-Cavity, 3-Second moving column, 4-Base plate, 41-Rack, 42-Gear, 43-Third motor, 44-Horizontal plane, 5-Lifting plate, 51-First guide surface, 52-Third guide surface, 53-Second guide surface, 54-Fourth guide surface, 100-Control Box making, 200-Second walking device, 300-First walking device, 400-Wire, 500-First camera, 600-Second camera, 700-Top frame, 701-Mounting plate, 7011-Slot, 7012-Fixing slot, 702-Walking wheel, 703-First motor, 704-Auxiliary wheel, 7041-Mounting bracket, 7042-Electric telescopic rod, 800-Box body, 801-Base frame, 802-Second motor, 803-Output shaft. Detailed Implementation

[0027] 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. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0028] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort are also within the scope of protection of the present invention.

[0029] It should be noted that, unless otherwise specified, the embodiments and features described in this invention can be combined with each other.

[0030] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0031] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0032] It should be noted that, unless otherwise specified, the embodiments and features described in this invention can be combined with each other.

[0033] Example 1 like Figures 1-11 As shown in the figure, an embodiment of the present invention discloses a lightweight, miniature, autonomous tower inspection device for ultra-high voltage transmission lines, including a control box 100. Two walking devices are spaced apart on the control box 100. Each walking device includes: The top frame 700 and the traveling wheels 702 are provided. The bottom ends of the top frame 700 are respectively provided with mounting plates 701. The two mounting plates 701 are respectively provided with first connecting members. The two ends of the traveling wheels 702 are respectively rotatably connected to the two mounting plates 701. The traveling wheels 702 are driven by a first motor 703 provided on the mounting plates 701. The housing 800 is located below two mounting plates 701. Two openings are provided through the housing 800. Movable columns are slidably connected to the inner sides of the two openings. The two movable columns are respectively opposite to the two mounting plates 701, and each of the two movable columns is provided with a second connector. The second connector cooperates with the first connector to realize the detachable connection between the movable column and the housing 800. A lifting device is provided inside the housing 800 to drive the two moving columns to rise or fall respectively, so that the two second connecting parts rise or fall respectively, so as to realize the connection or separation of the two moving columns from the two mounting plates 701 respectively. The auxiliary wheel 704 is rotatably connected to the mounting frame 7041 of the housing 800. The auxiliary wheel 704 is located below the traveling wheel 702. The mounting frame 7041 is raised and lowered by a lifting device provided inside the housing 800. A base frame 801 is fixed to the bottom of the housing 800. A second motor 802 is provided at the bottom of the base frame 801. The output shaft 803 of the second motor 802 is fixedly connected to the control box 100.

[0034] It should be noted that the control box 100 is the control core of the overall device, responsible for coordinating the actions of various components; the two walking devices are the actuators for the device to move along the power line 400 and overcome obstacles; the top frame 700 is used to support the mounting plate 701; the walking wheels 702 are the load-bearing and moving components, and the first motor 703 provides driving force for the walking wheels 702; the mounting plate 701 is used to install the walking wheels 702 and the first connecting piece; the housing 800 provides installation space for components such as the moving column and the lifting device; the moving column is connected / separated from the mounting plate 701 to achieve [the following is unclear and likely refers to a specific action or function]. The current walking device opens and closes; the second connecting piece cooperates with the first connecting piece to achieve a detachable connection between the moving column and the mounting plate 701; the lifting device drives the moving column to rise and fall to complete the connection / separation action; the auxiliary wheel 704 cooperates with the walking wheel 702 to clamp the wire 400 and provide support; the mounting bracket 7041 is used to install the auxiliary wheel 704; the lifting device drives the auxiliary wheel 704 to rise and fall to adjust the clamping force; the base frame 801 is used to fix the second motor 802; the second motor 802 drives the control box 100 to rotate, providing rotational power for the walking device to overcome obstacles. Working principle: In the initial state, each walking device is connected to the mounting plate 701 via only one moving column (defined as the first moving column 2), while the other moving column (defined as the second moving column 3) is separated from the mounting plate 701 with a gap, forming a "one end closed, one end open" state. When encountering obstacles such as the shock absorber 1, the second motor 802 of the walking device close to the obstacle (defined as the first walking device 300) is activated. Its output shaft 803 drives the control box 100 and the walking device away from the obstacle to rotate synchronously. The walking device away from the obstacle (defined as the second walking device 200) is connected to the mounting plate 701 via the second moving column 3. The gap between plates 701 bypasses the wire 400 and disengages; then the lifting device drives the second moving column 3 of the second walking device 200 to rise and connect with the mounting plate 701, while the first moving column 2 descends and separates from the mounting plate 701 to form a new gap; after the control box 100 rotates 180 degrees, the wire 400 passes through the new gap and gets stuck between the walking wheel 702 and the auxiliary wheel 704 of the second walking device 200, and the lifting device drives the auxiliary wheel 704 to rise, which together with the walking wheel 702 clamps the wire 400 to form a stable fulcrum; finally, the same method is used to drive the walking device close to the obstacle to rotate 180 degrees to complete the obstacle crossing. Beneficial effects: The device employs an alternating rotational obstacle-crossing mechanism with dual walking devices, along with interchangeable and detachable movable columns and liftable auxiliary wheels 704. This allows the device to bypass obstacles such as the shock-absorbing hammer 1 through rotation. The alternating opening and closing of the movable columns provides the necessary space for rotational obstacle crossing, while the lifting and lowering of the auxiliary wheels 704 ensures the stability of the fulcrum during rotation. The three components work together to achieve a smooth connection of obstacle-crossing actions, ensuring the continuity of the inspection process, effectively avoiding the tedious operation of manual assistance, and significantly improving inspection efficiency. Furthermore, the rotational obstacle-crossing method also improves crossing efficiency.

[0035] like Figure 1 As shown, in this embodiment, a first camera 500 electrically connected to the control box 100 is installed on the top frame 700. It should be noted that the first camera 500 captures real-time images of the wiring status above and around the top frame 700 (such as broken wire strands, loose hardware, etc.), and transmits the image data to the control box 100 via electrical connection. The control box 100 can perform preliminary data processing or transmit the data to a ground control center. Beneficial effects: By installing the first camera 500 on the top frame 700, real-time monitoring of the wiring environment above the device is achieved, facilitating timely detection of potential wiring faults and improving the comprehensiveness and timeliness of inspections.

[0036] like Figure 1 As shown, in this embodiment, a second camera 600 electrically connected to the bottom of the control box 100 is provided thereto. It should be noted that the second camera 600 captures real-time images of the lines and obstacles (such as the shock absorber 1) below the control box 100, and transmits the data to the control box 100, complementing the images from the first camera 500 to comprehensively cover the surrounding line environment. Beneficial effects: By setting the second camera 600 to cooperate with the first camera 500, omnidirectional image acquisition of the overhead and underside of the transmission line 400 is achieved, avoiding blind spots in inspections and further improving the completeness of inspections and fault identification capabilities.

[0037] Example 2 like Figures 10-11As shown, this embodiment is largely the same as the above embodiment, except that the first connector includes a slot 7011 located at the bottom of the mounting plate 701, and a fixing groove 7012 communicating with the slot 7011 is provided through the side wall of the mounting plate 701; the second connector includes a plug 21 that can be inserted into the slot 7011, the plug 21 has a cavity 28 inside, a piston plate 27 is embedded at the top of the moving column, the piston plate 27 is embedded in the cavity 28, and a mounting groove 24 communicating with the cavity 28 is also provided through the side wall of the plug 21. A fixing block 25 that cooperates with the fixing groove 7012 is slidably embedded in the mounting groove 24, and the fixing block 25 is connected to the inner wall of the cavity 28 by a first spring 26. It should be noted that in the first connector, the slot 7011 is used to accommodate the insert 21, and the fixing slot 7012 is used to cooperate with the fixing block 25 to achieve positioning and fixation; in the second connector, the insert 21 is used to insert into the slot 7011 to achieve initial docking, the cavity 28 provides space for the movement of the piston plate 27 and air compression, the piston plate 27 is used to compress the air in the cavity 28 to generate pressure, the mounting slot 24 is used to install the fixing block 25, the fixing block 25 is inserted into the fixing slot 7012 to achieve a firm connection between the moving column and the mounting plate 701, and the first spring 26 is used to reset the fixing block 25. Working Principle: When connecting the movable column and the mounting plate 701, the lifting device drives the movable column to rise, causing the insert block 21 to insert into the slot 7011 of the mounting plate 701. After the insert block 21 is in place, the movable column continues to rise, pushing the piston plate 27 upward within the cavity 28 of the insert block 21, compressing the air in the cavity 28 to create pressure. This pressure pushes the fixing block 25 outward along the mounting groove 24 until it is inserted into the fixing groove 7012 of the mounting plate 701, completing the connection. During separation, the movable column descends, causing the piston plate 27 to move downward, reducing the pressure in the cavity 28. The first spring 26 pulls the fixing block 25 out of the fixing groove 7012 and back into the mounting groove 24, while the insert block 21 disengages from the slot 7011 along with the movable column. Beneficial Effects: By setting a pneumatically driven fixing block 25 that cooperates with the fixing groove 7012, the connection and separation of the movable column and the mounting plate 701 are achieved without the need for additional driving components.

[0038] like Figure 6 As shown, in this embodiment, the difference lies in that the moving column is connected to the inner wall of the housing 800 via a second spring 22. It should be noted that the second spring 22 assists the moving column in resetting after the lifting action. Working principle: When the lifting device drives the moving column upward, the second spring 22 is stretched or compressed to store elastic potential energy; when the lifting device removes the driving force, the second spring 22 releases the elastic potential energy, pulling or pushing the moving column back to its initial position. Beneficial effects: By setting the second spring 22 to assist the moving column in resetting, automatic resetting of the moving column can be achieved without an additional driving mechanism, simplifying the device structure, reducing energy consumption, and ensuring the accuracy and timeliness of the moving column's resetting action.

[0039] like Figures 6-9 As shown, in this embodiment, the lifting device includes a base plate 4, which is located at the bottom of the housing 800 and is arranged along the length of the housing 800. A groove is provided on the inner wall of the housing 800, and a slide rail is provided on the side wall of the base plate 4. The slide rail is slidably embedded in the groove. A lifting plate 5 is fixedly connected to the top of the base plate 4. A first guide surface 51 and a second guide surface 53 are respectively provided at both ends along the length of the lifting plate 5. The first guide surface 51 and the second guide surface 53 are inclined and have a V-shaped structure. The bottoms of the two moving columns can respectively contact the first guide surface 51 and the second guide surface 53. The lifting device also includes a moving component, which drives the base plate 4 to move along the length of the housing 800, so that the two moving columns can rise or fall respectively by cooperating with the first guide surface 51 and the second guide surface 53. It should be noted that in the lifting device, the base plate 4 supports the lifting plate 5 and drives its movement; the slide groove and slide rail cooperate to provide guidance and limit for the movement of the base plate 4; the lifting plate 5 is used to transmit power through the guide surface; the first guide surface 51 and the second guide surface 53 are inclined structures, driving the lifting of the moving column by pressing the bottom of the column; the moving component is used to drive the base plate 4 to move along the length of the box 800. Working principle: The moving component drives the base plate 4 to move along the length of the box 800, and the base plate 4 drives the lifting plate 5 at the top to move synchronously; when the lifting plate 5 moves, the first guide surface 51 or the second guide surface 53 at both ends of the plate contact the bottom of the corresponding moving column and generate a pressing effect. Since the guide surface is an inclined structure, the pressing force is decomposed into a vertical component, pushing the moving column to slide up or down along the opening of the box 800, thereby realizing the lifting of the moving column. Beneficial effect: By setting the lifting plate 5 with inclined first guide surface 51 and second guide surface and the slide groove-slide rail guide structure, the horizontal movement of the base plate 4 is converted into the vertical lifting of the moving column.

[0040] like Figure 6As shown, in this embodiment, the moving component includes a rack 41, which is fixed to the base plate 4. A gear 42, meshing with the rack 41, is rotatably connected inside the housing 800. The gear 42 is driven by a third motor 43. It should be noted that in the moving component, the rack 41 and gear 42 work together to transmit power; the gear 42 converts the rotational motion of the third motor 43 into the linear motion of the rack 41; the third motor 43 provides the driving force for the movement of the base plate 4. Working principle: After the third motor 43 starts, it rotates forward or backward, driving the gear 42 connected to it to rotate synchronously; the gear 42 meshes with the rack 41 on the base plate 4, converting the rotational motion of the gear 42 into the horizontal linear motion of the rack 41, thereby driving the base plate 4 to move to the right or left along the length of the housing 800; the movement of the base plate 4 drives the lifting plate 5 to move, pressing the corresponding moving column through the first guide surface 51 or the second guide surface 53, thus realizing the lifting and lowering of the moving column.

[0041] like Figures 6-9As shown, in this embodiment, the top of the lifting plate 5 is provided with a third guide surface 52 and a fourth guide surface 54. The third guide surface 52 and the fourth guide surface 54 are inclined, and the two moving columns are respectively located on one side of the third guide surface 52 and the fourth guide surface 54. The two ends of the lifting plate 5 are respectively provided with horizontal surfaces 44, and the two horizontal surfaces 44 are in contact with the bottom of the first guide surface 51 and the second guide surface 53. It should be noted that the walking device closer to the shock absorber 1 is defined as the first walking device 300, and the one farther away from the shock absorber 1 is defined as the second walking device 200. In the initial state, the first moving column 2 of the first walking device 300 and the second walking device 200 is inserted into the slot 7011 of the corresponding mounting plate 701, that is, the first moving column 2 is connected to the corresponding mounting plate 701, while the second moving column 3 and the corresponding mounting plate 701 are separate. At this time, the bottom of the first moving column 2 is located at the top of the lifting plate 5 and is located on the right side of the third guide surface 52. When encountering an obstacle, the third motor 43 of the second walking device 200 first drives the gear. 42 rotates forward, causing the base plate 4 to move to the right first, which in turn moves the lifting plate 5 to the right. At this time, the bottom of the first moving column 2 is squeezed by the third guide surface 52, and the first moving column 2 moves upward. Because the insertion block 21 at the top of the first moving column 2 is now limited by the slot 7011, the upward movement of the moving column will cause the mounting bracket 7041 and the traveling wheel 702 on the mounting bracket 7041 to move upward, making the gap between the traveling wheel 702 and the auxiliary wheel 704 larger, thereby releasing the wire 400. At the same time, due to the design of the horizontal surface 44, when the lifting plate 5 moves to the left, the second moving column 3 first contacts the horizontal surface 44. That is, it will not first contact the second guide surface 53, and therefore will not rise. At this time, since another mounting plate 701 (on the top of the second moving column 3) also moves upwards synchronously, the gap between the second moving column 3 and the corresponding mounting plate 701 also increases, leaving space for the wire 400 to pass through. Then, the lifting device of the first traveling device 300 drives the mounting frame 7041 and auxiliary wheel 704 to move upwards, causing the traveling wheel 702 and auxiliary wheel 704 of the first traveling device 300 to clamp the wire 400, forming a fulcrum. Then, the second motor 802 of the first traveling device 300 is started, and the output shaft 803 of the second motor 802 drives... When the control box 100 rotates clockwise, it causes the second traveling device 200 to rotate clockwise. Because there is a gap between the second moving column 3 of the second traveling device 200 and the mounting plate 701, allowing the wire 400 to pass through, the second traveling device 200 will detach from the wire 400 after the control box 100 rotates. Once detached, the first moving column 2 on the second traveling device 200 (connected to the mounting plate 701) will face the wire 400. To prevent the first moving column 2 from obstructing the wire 400 from entering between the traveling wheel 702 and the auxiliary wheel 704 of the second traveling device 200, [further steps are taken].The third motor 43 on the second walking device 200 is activated. The third motor 43 drives the gear 42 to reverse, thereby moving the base plate 4 to the left. At this time, the first moving column 2 will first disengage from the third guide surface 52 and move downward through the action of the second spring 22. The first moving column 2 first drives the mounting plate 701 to move downward. As the lifting plate 5 continues to move to the left, the first moving column 2 gradually moves to the first guide surface 51 and gradually descends. The top of the first moving column 2 also descends synchronously in the cavity 28 of the insert block 21. At this time, the fixing block 25 at the top of the first moving column 2 gradually retracts from the fixing groove 7012 on the mounting plate 701, but it is not completely retracted. That is, part of the fixing block 25 of the first moving column 2 is still stuck in the fixing groove 7012 of the corresponding mounting plate 701. In other words, the first moving column 2 is not completely disengaged from the mounting plate 701 and still moves downward. Regarding the connection relationship, correspondingly, the second moving column 3 rises under the action of the second guide surface 53, and the fixing block 25 of the first moving column 2 has been inserted into the corresponding fixing slot 7012, completing the connection. The lifting plate 5 continues to move to the left, and the insertion block 21 of the first moving column 2 completely disengages from the slot 7011, forming a gap through which the wire 400 can pass. The fixing block 25 of the second moving column 2 is completely inserted into the fixing slot 7012 of the mounting plate 701, completing the connection. When the control box 100 rotates 180 degrees, the wire 400 is inserted from the gap between the first moving column 2 on the second walking device 200 and the corresponding mounting plate 701 into the space between the walking wheel 702 and the auxiliary wheel 704 on the second walking device 200, and the second walking device 200 completely passes over the shock absorber 1. Then the above operation is repeated, so that the first walking device 300 also passes over the shock absorber 1 by rotation. In this design, by integrating the third guide surface 52, the fourth guide surface 54, and the horizontal surface 44 onto the same lifting plate 5, the single horizontal movement of the lifting plate 5 can synchronously drive the first moving column 2 and the second moving column 3 to alternately rise and fall, thereby completing the connection or separation switching between the two and their corresponding mounting plate 701. This eliminates the need for separate drive mechanisms for the two moving columns, achieving a "one-plate drive, two-column linkage" design. The third and fourth guide surfaces 54 precisely control the rising and falling amplitude and timing of the moving columns, while the horizontal surface 44 ensures that the non-moving side moving column is not linked, effectively avoiding interference between the two moving columns during connection / separation. This allows the switching action of "first moving column 2 separation - second moving column 3 connection" or "second moving column 3 separation - first moving column 2 connection" to be completed with a single movement of the lifting plate 5.

[0042] like Figure 10As shown in this embodiment, each of the movable columns is rotatably connected to a roller 23 at its bottom. It should be noted that when the lifting plate 5 moves and drives the movable column to rise and fall via the guide surface, the roller 23 at the bottom of the movable column rolls on the surface of the lifting plate 5, converting the sliding friction between the movable column and the lifting plate 5 into rolling friction. Beneficial effects: By setting the roller 23, the frictional resistance between the movable column and the lifting plate 5 is significantly reduced, making the lifting and falling action of the movable column smoother, reducing component wear, extending the service life of the device, and reducing drive energy consumption.

[0043] like Figure 6 As shown, in this embodiment, the lifting device includes an electric telescopic rod 7042, which is fixed inside the housing 800. The telescopic end of the electric telescopic rod 7042 is connected to the mounting frame 7041. The electric telescopic rod is used to drive the auxiliary wheels on the mounting frame to rise or fall. One end of the electric telescopic rod is fixed inside the housing, and the other end can extend or retract.

[0044] The working principle of the present invention is: like Figure 1-Figure 2 and Figure 6 As shown, in the initial state, the two walking devices (first walking device 300 and second walking device 200) spaced apart on the control box 100 are both in a "one end closed, one end open" state. In each walking device, only one moving column (defined as the first moving column 2) is connected to the first connecting piece of the mounting plate 701 through the second connecting piece, and the other moving column (defined as the second moving column 3) is separated from the mounting plate 701 and leaves a gap. At the same time, the auxiliary wheels 704 of each walking device are in a low position, and the walking wheels 702 and the auxiliary wheels 704 cooperate to support the wire 400. The first camera 500 on the top frame 700 and the second camera 600 at the bottom of the control box 100 collect images of the line and the surrounding environment in real time and transmit them to the control box 100. The control box 100 coordinates the actions of each component.

[0045] When the first camera 500 and the second camera 600 detect obstacles such as the shock absorber 1, the control box 100 first activates the electric telescopic rod 7042 of the first walking device 300 that is close to the obstacle. The electric telescopic rod 7042 extends and pushes the mounting bracket 7041 and the auxiliary wheel 704 to rise, so that the walking wheel 702 and the auxiliary wheel 704 of the first walking device 300 clamp the wire 400 to form a stable fulcrum. Then, the third motor 43 of the second walking device 200 is activated. The third motor 43 drives the gear 42 to rotate forward. The gear 42 meshes with the rack 41 on the base plate 4 and drives the base plate 4 along the length of the box body 800. As the device moves to the right, the lifting plate 5 on top of the base plate 4 moves to the right simultaneously. The third guide surface 52 on the lifting plate 5 presses against the bottom of the first moving column 2 of the second traveling device 200. Because the top insert 21 of the first moving column 2 is limited by the slot 7011, when it moves upward, it drives the mounting plate 701 and the traveling wheel 702 to rise, increasing the gap between the traveling wheel 702 and the auxiliary wheel 704 to release the power cable 400. The second moving column 3 does not rise temporarily because it is in contact with the horizontal surface 44 of the lifting plate 5. As the mounting plate 701 rises, the gap between itself and the mounting plate 701 is further widened, leaving space for the power cable 400 to pass through (the state at this time is as follows). Figure 7 (As shown). Next, the second motor 802 of the first traveling device 300 is started. The output shaft 803 of the second motor 802 drives the control box 100 and the second traveling device 200 to rotate synchronously. The second traveling device 200 passes through the gap between the second moving column 3 and the mounting plate 701, passes around the wire 400, and gradually disengages from the wire 400. When the second traveling device 200 is completely disengaged from the wire 400, the control box 100 starts its third motor 43 to reverse, driving the gear 42 and rack 41 to move the base plate 4 to the left. The lifting plate 5 moves to the left simultaneously. The first moving column 2 of the second traveling device 200 first disengages from the third guide surface 52 and is then... Under the action of elastic potential energy, the first moving column 2 descends, causing the mounting plate 701 to move downwards. Subsequently, the bottom of the first moving column 2 contacts the first guide surface 51 of the lifting plate 5 and descends along it. The piston plate 27 inside the insert block 21 moves downwards, reducing the pressure in the cavity 28. Under the action of the first spring 26, the fixing block 25 gradually retracts from the fixing groove 7012 (not completely detached, still maintaining a temporary connection). At the same time, the bottom of the second moving column 3 contacts the second guide surface 53 of the lifting plate 5 and rises along it. Its top insert block 21 is inserted into the corresponding slot 7011 of the mounting plate 701. The piston plate 27 compresses air to push the fixing block 25 into the fixing groove 7012 to complete the connection (at this time, the state is as follows). Figure 8 As shown); the lifting plate 5 continues to move to the left, the insertion block 21 of the first moving column 2 completely disengages from the slot 7011 to form a new gap, and the second moving column 3 is completely fixed to the mounting plate 701 (at this time, the state is as shown). Figure 9(As shown). When the control box 100 rotates 180 degrees, the wire 400 passes through the new gap between the first moving column 2 of the second walking device 200 and the mounting plate 701 and gets stuck between its walking wheel 702 and auxiliary wheel 704. The control box 100 starts the electric telescopic rod 7042 of the second walking device 200 to extend, pushing the auxiliary wheel 704 to rise and clamp the wire 400 with the walking wheel 702 to form a new fulcrum. Finally, the above operation is repeated - the third motor 43 of the first walking device 300 is started to drive the lifting plate 5 to move, so that the first moving column 2 of the first walking device 300 is released and the second moving column 3 is ready to connect. Then the second motor 802 of the second walking device 200 is started to drive the control box 100 and the first walking device 300 to rotate 180 degrees. The first walking device 300 passes around the obstacle through its own gap and then switches the moving column to connect and clamp the wire 400, finally completing the crossing of obstacles such as the shock absorber 1. Throughout the process, the control box 100 continuously receives image data from the first and second cameras 600 to ensure that the inspection and obstacle crossing actions are carried out in coordination.

[0046] The circuits, electronic components, and modules involved are all existing technologies, which can be fully implemented by those skilled in the art, and need not be elaborated upon. The scope of protection of this invention does not involve any improvement to the software and methods.

[0047] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0048] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A lightweight, miniature, autonomous tower inspection device for ultra-high voltage and extra-high voltage transmission lines, characterized in that, Includes a control box (100), on which two traveling devices are spaced apart, the traveling devices comprising: The top frame (700) and the traveling wheels (702) are provided with mounting plates (701) at both ends of the bottom of the top frame (700), and first connecting members are provided on the two mounting plates (701). The two ends of the traveling wheels (702) are rotatably connected to the two mounting plates (701) respectively. The traveling wheels (702) are driven by a first motor (703) provided on the mounting plate (701). The housing (800) is located below two mounting plates (701). The housing (800) has two through openings. The inner sides of the two openings are slidably connected to movable columns. The two movable columns are respectively opposite to the two mounting plates (701), and the two movable columns are respectively provided with second connectors. The second connectors cooperate with the first connectors to realize the detachable connection between the movable columns and the housing (800). A lifting device is provided inside the housing (800) to drive the two moving columns to rise or fall respectively, so that the two second connecting parts rise or fall respectively, so as to realize the connection or separation of the two moving columns from the two mounting plates (701); The auxiliary wheel (704) is rotatably connected to the mounting bracket (7041) of the housing (800). The auxiliary wheel (704) is located below the traveling wheel (702). The mounting bracket (7041) is raised and lowered by a lifting device provided in the housing (800). The base frame (801) is fixed to the bottom of the housing (800). The bottom of the base frame (801) is provided with a second motor (802). The output shaft (803) of the second motor (802) is fixedly connected to the control box (100).

2. The lightweight, miniature, autonomous tower inspection device for ultra-high voltage transmission lines according to claim 1, characterized in that, The first connector includes a slot (7011) located at the bottom of the mounting plate (701), and a fixing groove (7012) communicating with the slot (7011) is provided through the side wall of the mounting plate (701). The second connector includes a plug (21) that can be inserted into a slot (7011). The plug (21) has a cavity (28) inside. A piston plate (27) is embedded in the top of the moving column. The piston plate (27) is embedded in the cavity (28). The side wall of the plug (21) is also provided with a mounting groove (24) that communicates with the cavity (28). A fixing block (25) that cooperates with the fixing groove (7012) is slidably embedded in the mounting groove (24). The fixing block (25) is connected to the inner wall of the cavity (28) by a first spring (26).

3. The lightweight, miniature, autonomous tower inspection device for ultra-high voltage transmission lines according to claim 2, characterized in that, The movable column is connected to the inner wall of the box (800) by a second spring (22).

4. The lightweight, miniature, autonomous tower inspection device for ultra-high voltage transmission lines according to claim 1, characterized in that, The lifting device includes a base plate (4), which is located at the bottom of the box (800) and is arranged along the length of the box (800). The inner wall of the box (800) is provided with a sliding groove, and the side wall of the base plate (4) is provided with a sliding rail. The sliding rail is slidably embedded in the sliding groove. The top of the base plate (4) is fixedly connected to a lifting plate (5). The two ends of the lifting plate (5) along the length direction are respectively provided with a first guide surface (51) and a second guide surface (53). The first guide surface (51) and the second guide surface (53) are inclined and have an eight-shaped structure. The bottoms of the two moving columns can contact the first guide surface (51) and the second guide surface (53) respectively. The lifting device also includes a moving component, which drives the base plate (4) to move along the length of the box (800), so that the two moving columns can rise or fall respectively by cooperating with the first guide surface (51) and the second guide surface (53).

5. A lightweight, miniature, autonomous tower inspection device for ultra-high voltage transmission lines according to claim 4, characterized in that, The moving component includes a rack (41) fixed on a base plate (4), and a gear (42) rotatably connected inside the housing (800) to mesh with the rack (41), the gear (42) being driven by a third motor (43).

6. The lightweight, miniature, autonomous tower inspection device for ultra-high voltage transmission lines according to claim 5, characterized in that, The top of the lifting plate (5) is provided with a third guide surface (52) and a fourth guide surface (54). The third guide surface (52) and the fourth guide surface (54) are inclined. The two moving columns are located on one side of the third guide surface (52) and the fourth guide surface (54), respectively. The lifting plate (5) has horizontal surfaces (44) at both ends, and the two horizontal surfaces (44) are in contact with the bottom of the first guide surface (51) and the second guide surface (53).

7. A lightweight, miniature, autonomous tower inspection device for ultra-high voltage transmission lines according to claim 6, characterized in that, Each of the movable columns is rotatably connected to a roller (23) at its bottom.

8. The lightweight, miniature, autonomous tower inspection device for ultra-high voltage transmission lines according to claim 1, characterized in that, The lifting device includes an electric telescopic rod (7042), which is fixed inside the housing (800), and the telescopic end of the electric telescopic rod (7042) is connected to the mounting frame (7041).

9. A lightweight, miniature, autonomous tower inspection device for ultra-high voltage transmission lines according to claim 1, characterized in that, The top frame (700) is equipped with a first camera (500) that is electrically connected to the control box (100).

10. A lightweight, miniature, autonomous tower inspection device for ultra-high voltage transmission lines according to claim 1, characterized in that, The bottom of the control box (100) is equipped with a second camera (600) electrically connected to it.

Images