A light and small tower-staying autonomous inspection device for extra-high voltage transmission line

Abstract

This invention proposes a lightweight, autonomous tower inspection device for ultra-high voltage (UHV) transmission lines, belonging to the field of transmission line inspection technology. It addresses the problems of low efficiency and high cost associated with existing power line inspection robots that require manual assistance to overcome obstacles. The device includes a control box with two walking devices spaced apart on it. Each walking device comprises a top frame, wheels, a mounting plate, a housing, a moving column, a first connecting member, a second connecting member, a lifting device for driving the moving column's elevation, auxiliary wheels, a base frame, and a second motor for driving the control box's rotation. This invention utilizes alternating rotation of the two walking devices to overcome obstacles, combined with the alternating opening and closing of the moving column and the elevation of the auxiliary wheels. This allows it to bypass obstacles such as shock absorbers without manual assistance, ensuring continuous inspection and significantly improving efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of power transmission line inspection, in particular to a light and small tower-staying autonomous inspection device for ultra-high voltage power transmission lines. BACKGROUND

[0002] Ultra-high voltage power transmission lines are the core backbone of energy transmission and are prone to faults such as conductor breakage and insulator damage due to long-term exposure to complex environments, and therefore need to be regularly inspected to ensure safety. Current inspection has shifted from manual to automated, and inspection robots have become one of the mainstream devices because they can walk along the conductor and carry various detection sensors to achieve detailed detection. An inspection robot is mainly composed of walking, clamping, control, energy and detection modules, and can move autonomously and transmit equipment status information.

[0003] Dampers (such as FD and FR types) and other fittings on ultra-high voltage lines are the main obstacles for inspection robots. Dampers are composed of a hammer head, a steel strand and a wire clamp, and are used to suppress conductor vibration, but existing inspection robots cannot pass through. The core defects include: the walking mechanism is only suitable for smooth conductors and cannot cross the irregular structure of the damper; the obstacle crossing mechanism is not matched with the size layout of the damper; the obstacle crossing drive and strength are insufficient due to weight restrictions; the recognition and path planning accuracy for dynamic dampers are low; the clamping stability is poor during attitude adjustment, and it is easy to tilt and fall.

[0004] The above problems limit the range of robot inspection, and manual assistance is required to cross obstacles, which is low in efficiency and high in cost. Therefore, it is an urgent need to develop a light and small tower-staying autonomous inspection device that can effectively cross the damper to break through the current inspection bottleneck. SUMMARY

[0005] Therefore, the present application provides a light and small tower-staying autonomous inspection device for ultra-high voltage power transmission lines to solve the problem of low efficiency and high cost of manual assistance in crossing obstacles for wire inspection robots in the prior art.

[0006] The technical scheme adopted by the present application is as follows:

[0007] A light and small tower-staying autonomous inspection device for ultra-high voltage power transmission lines, comprising a control box, two walking devices are arranged on the control box at intervals, and the walking device comprises:

[0008] A top frame and a walking wheel, two mounting plates are arranged at the bottom of the top frame, a first connecting piece is arranged on each mounting plate, and the walking wheel is rotatably connected to the two mounting plates at both ends, and the walking wheel is driven by a first motor arranged on the mounting plate.

[0009] The box is located below the two mounting plates, two openings are provided on the box, two moving columns are slidably connected to the inner sides of the two openings, the two moving columns are opposite to the two mounting plates, second connecting members are arranged on the two moving columns, the second connecting members are matched with the first connecting members, and detachable connection between the moving columns and the box is realized.

[0010] The lifting device is arranged in the box and is used for driving the two moving columns to ascend or descend, so that the two second connecting members ascend or descend, and the connection or separation between the two moving columns and the two mounting plates is realized.

[0011] The auxiliary wheel is rotatably connected to the mounting frame of the box, the auxiliary wheel is located below the walking wheel, and the mounting frame is lifted by the jacking device arranged in the box.

[0012] The bottom frame is fixed to the bottom of the box, a second motor is arranged at the bottom of the bottom frame, and the output shaft of the second motor is fixedly connected with the control box.

[0013] The technical scheme is characterized in that the control box is the control core of the whole device and is responsible for coordinating the actions of various components; the two walking devices are the actuators for the device to walk along the electric wire and to overcome obstacles; the top frame is used for supporting the mounting plate; the walking wheels are the load-bearing and moving components for walking, and the first motor provides driving force for the walking wheels; the mounting plate is used for mounting the walking wheels and the first connecting piece; the box body provides mounting space for components such as the moving column and the lifting device; the moving column is connected to / detached from the mounting plate to realize the opening and closing of the walking device; the second connecting piece cooperates with the first connecting piece to realize the detachable connection of the moving column and the mounting plate; the lifting device drives the moving column to lift to complete the connection / detachment action; the auxiliary wheels cooperate with the walking wheels to clamp the electric wire and provide support; the mounting rack is used for mounting the auxiliary wheels; the jacking device drives the auxiliary wheels to lift to adjust the clamping force; the bottom frame is used for fixing the second motor; the second motor drives the control box to rotate to provide rotary 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) and is separated from the mounting plate through the other moving column (defined as the second moving column) to form a state of “one end closed and one end open”; when encountering obstacles such as shock absorbers, the second motor of the walking device (defined as the first walking device) close to the obstacle is started, the output shaft of the second motor drives the control box and the walking device away from the obstacle to rotate synchronously, and the walking device (defined as the second walking device) away from the obstacle passes through the gap between the second moving column and the mounting plate and is separated; then the lifting device drives the second moving column of the second walking device to rise and connect to the mounting plate, and at the same time, the first moving column is lowered to separate from the mounting plate and form a new gap; after the control box rotates by 180 degrees, the electric wire is clamped into the gap between the walking wheels and the auxiliary wheels of the second walking device, and the jacking device drives the auxiliary wheels to rise and clamp the electric wire together with the walking wheels to form a stable fulcrum; finally, the same method is used to drive the walking device close to the obstacle to rotate by 180 degrees to complete the obstacle crossing. Advantageous effects: the obstacle crossing method of alternating rotation of the double walking devices, in cooperation with the alternately connected and separated moving columns and the liftable auxiliary wheels, enables the device to bypass obstacles such as shock absorbers through rotation; the alternating opening and closing of the moving columns provides the necessary space conditions for rotary obstacle crossing, and the lifting of the auxiliary wheels ensures the stability of the fulcrum during rotation, and the three work together to realize smooth connection of the obstacle crossing action, not only ensuring the continuity of the inspection process and effectively avoiding the cumbersome operation of manual auxiliary handling, but also greatly improving the inspection efficiency, and the rotary obstacle crossing method improves the crossing efficiency.

[0014] Preferably, the first connecting piece comprises a slot arranged at the bottom of the mounting plate, and a fixing groove penetrating through the sidewall of the mounting plate and communicating with the slot; the second connecting piece comprises an insertion block which can be inserted into the slot, and the insertion block is internally provided with a cavity, the top of the moving column is embedded with a piston plate, the piston plate is embedded in the cavity, and a mounting groove penetrating through the sidewall of the insertion block and communicating with the cavity is further arranged on the sidewall of the insertion block, and a fixing block matched with the fixing groove is slidably embedded in the mounting groove, and the fixing block is connected with the inner wall of the cavity through a first spring.

[0015] In the technical scheme, it should be noted that, in the first connecting piece, the slot is used for accommodating the insertion block, and the fixing groove is used for cooperating with the fixing block to realize positioning and fixing; in the second connecting piece, the insertion block is used for being inserted into the slot to realize preliminary butt joint, the cavity provides space for movement of the piston plate and air compression, the piston plate is used for extruding air in the cavity to generate pressure, the mounting groove is used for mounting the fixing block, the fixing block is inserted into the fixing groove to realize firm connection of the moving column and the mounting plate, and the first spring is used for resetting the fixing block. The working principle is as follows: when the moving column needs to be connected with the mounting plate, the lifting device drives the moving column to ascend, and the insertion block is inserted into the slot of the mounting plate; after the insertion block is in place, the moving column continues to ascend, the piston plate is pushed to move upwards in the cavity of the insertion block, and air in the cavity is extruded to form pressure; the pressure drives the fixing block to slide outwards along the mounting groove until the fixing block is inserted into the fixing groove of the mounting plate, and the connection of the two is completed; when the two are separated, the moving column descends to drive the piston plate to move downwards, 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 insertion block is separated from the slot along with the moving column. Beneficial effects are as follows: through the fixing block and the fixing groove cooperating structure driven by air pressure, the connection and separation of the moving column and the mounting plate are realized, and no additional driving components are needed.

[0016] Preferably, the moving column is connected with the inner wall of the box through a second spring.

[0017] In the technical scheme, it should be noted that the second spring is used for assisting the moving column to reset after the lifting action. The working principle is as follows: when the lifting device drives the moving column to ascend, 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 to pull or push the moving column back to the initial position. Beneficial effects are as follows: through the second spring assisting the moving column to reset, the automatic resetting of the moving column can be realized without additional driving mechanism, the structure of the device is simplified, the energy consumption is reduced, and the accuracy and timeliness of the resetting action of the moving column are ensured.

[0018] Preferably, the lifting device comprises a bottom plate arranged at the bottom of the box and extending along the length direction of the box, a sliding groove arranged on the inner wall of the box, a sliding rail arranged on the side wall of the bottom plate and slidingly embedded in the sliding groove, a lifting plate fixedly connected to the top of the bottom plate, first and second guide surfaces arranged at the two ends of the lifting plate in the length direction and inclinedly arranged in an eight-shaped structure, and the bottom of each of the two moving columns being capable of contacting the first and second guide surfaces, respectively.

[0019] In the technical scheme, it should be noted that in the lifting device, the bottom plate is used to support and move the lifting plate; the sliding groove and the sliding rail cooperate to guide and limit the movement of the bottom plate; the lifting plate is used to transmit power through the guide surfaces; the first and second guide surfaces are inclined structures that drive the moving columns to rise and fall by extruding the bottom of the moving columns; and the moving assembly is used to drive the bottom plate to move along the length direction of the box. Working principle: the moving assembly drives the bottom plate to move along the length direction of the box, and the bottom plate drives the lifting plate at the top to move synchronously; when the lifting plate moves, the first or second guide surface at the end thereof contacts and extrudes the bottom of the corresponding moving column; since the guide surface is an inclined structure, the extrusion force is decomposed into a vertical component force, which pushes the moving column to slide upward or downward along the opening of the box, thereby achieving the lifting of the moving column. Advantage: the horizontal movement of the bottom plate is converted into the vertical lifting of the moving column by arranging the lifting plate with the inclined first and second guide surfaces and the sliding groove-sliding rail guiding structure.

[0020] Preferably, the moving assembly comprises a rack fixed on the bottom plate, a gear rotatably connected in the box and engaged with the rack, and a third motor driving the gear.

[0021] In the technical scheme, it should be noted that in the moving assembly, the rack and the gear cooperate to transmit power; the gear converts the rotary motion of the third motor into the linear motion of the rack; and the third motor provides driving force for the movement of the bottom plate. Working principle: the third motor rotates forward or reversely after starting, thereby driving the gear connected thereto to rotate synchronously; the gear is engaged with the rack on the bottom plate, and the rotary motion of the gear is converted into the horizontal linear motion of the rack, thereby driving the bottom plate to move rightward or leftward along the length direction of the box; the movement of the bottom plate drives the lifting plate to move, and the first or second guide surface extrudes the corresponding moving column, thereby achieving the lifting of the moving column.

[0022] 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 inclinedly arranged, and 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.

[0023] The technical scheme is characterized in that the walking device close to the damping hammer is defined as the first walking device, and the walking device far from the damping hammer is defined as the second walking device; in the initial state, the first moving column of the first walking device and the second walking device is inserted into the slot of the corresponding mounting plate, that is, the first moving column is connected with the corresponding mounting plate, and the second moving column is separated from the corresponding mounting plate; at this time, the bottom of the first moving column is located on the top of the lifting plate and on the right side of the third guide surface; when an obstacle is encountered, the third motor of the second walking device first drives the gear to rotate forward, thereby driving the bottom plate to move rightward first, driving the lifting plate to move rightward, at this time, the bottom of the first moving column is extruded by the third guide surface, and the first moving column moves upward; because the insertion block at the top of the first moving column is limited by the slot at this time, the moving column moves upward, thereby driving the mounting frame and the walking wheels on the mounting frame to move upward, so that the gap between the walking wheels and the auxiliary wheels becomes larger, thereby loosening the electric wire; and at the same time, due to the design of the horizontal surface, when the lifting plate moves leftward, the second moving column first contacts the horizontal surface, that is, the second moving column does not first contact the second guide surface, and therefore does not rise; and at this time, because the other mounting plate (at the top of the second moving column) also moves upward synchronously, the gap between the second moving column and the corresponding mounting plate also becomes larger, thereby leaving a space for the electric wire to pass through; then the jacking device of the first walking device drives the mounting frame and the auxiliary wheels to move upward, so that the walking wheels and the auxiliary wheels of the first walking device clamp the electric wire, forming a fulcrum; then the second motor of the first walking device is started, the output shaft of the second motor drives the control box to rotate forward, thereby driving the second walking device to rotate forward; because the second moving column of the second walking device has a gap for the electric wire to pass through between the second moving column and the mounting plate, when the control box rotates, the second walking device will be separated from the electric wire; when the second walking device is separated from the electric wire, at this time, the first moving column on the second walking device (because the first moving column is connected with the mounting plate) faces the electric wire; in order to prevent the first moving column from blocking the electric wire from being clamped between the walking wheels and the auxiliary wheels of the second walking device, the third motor on the second walking device is started, the third motor drives the gear to rotate reversely, thereby driving the bottom plate to move leftward; at this time, the first moving column first separates from the third guide surface, and moves downward under the action of the second spring; the first moving column first drives the mounting plate to move downward; when the lifting plate continues to move leftward, the first moving column gradually moves to the first guide surface, the first moving column gradually descends, and the fixed block at the top of the first moving column also synchronously descends in the insertion block cavity; at this time, the fixed block at the top of the first moving column gradually withdraws from the fixed slot on the mounting plate, but is not completely withdrawn, that is, the fixed block of the first moving column is still partially clamped in the fixed slot of the corresponding mounting plate, that is, the first moving column is not completely separated from the mounting plate, but still has a connection relationship; correspondingly, the second moving column rises under the action of the second guide surface, and the fixed block of the first moving column has been inserted into the corresponding fixed slot, thereby completing the connection; the lifting plate continues to move leftward, the insertion block of the first moving column is completely separated from the slot, and a gap for the electric wire to pass through is formed,And the second mobile fixed block is fully inserted into the fixed groove of the mounting plate, and the connection is completed, when the control box is rotated by 180 degrees, the wire is clamped between the walking wheel and the auxiliary wheel on the second walking device from the gap between the first mobile column on the second walking device and the corresponding mounting plate, and the second walking device completely passes through the shock absorber, and then the above operation is repeated, so that the first walking device also passes through the shock absorber by rotating. In the scheme, by integrating the third guide surface, the fourth guide surface and the horizontal surface on the same lifting plate, the first mobile column and the second mobile column are driven synchronously to realize alternating lifting by using the single horizontal movement of the lifting plate, and then the connection or separation switching of the two with the corresponding mounting plate is completed, without the need to set independent driving mechanisms for the two mobile columns, realizing the design of "one plate driving and double column linkage"; the third and fourth guide surfaces accurately control the lifting amplitude and timing of the mobile column, and the horizontal surface ensures that the non-action side mobile column is temporarily not linked, effectively avoiding the action interference of the two mobile columns in the connection / separation process, so that the switching action of "the first mobile column separation-the second mobile column connection" or "the second mobile column separation-the first mobile column connection" can be completed by one movement of the lifting plate.

[0024] Preferably, the bottom of each mobile column is rotatably connected with a roller.

[0025] In the technical scheme, when the lifting plate moves and drives the mobile column to lift through the guide surface, the roller at the bottom of the mobile column rolls on the surface of the lifting plate, converting the sliding friction between the mobile column and the lifting plate into rolling friction. Advantageous effects: by setting the roller, the frictional resistance between the mobile column and the lifting plate is significantly reduced, the lifting action of the mobile column is smoother, the component wear is reduced, the service life of the device is prolonged, and the driving energy consumption is reduced.

[0026] Preferably, the jacking device comprises an electric telescopic rod, the electric telescopic rod is fixed in the box body, and the telescopic end of the electric telescopic rod is connected with the mounting frame.

[0027] Preferably, the top frame is provided with a first camera electrically connected with the control box.

[0028] In the technical scheme, it should be noted that the first camera shoots the line state above and around the top frame (such as wire breakage, loose hardware, etc.) in real time, and transmits the image data to the control box through electrical connection, and the control box can preliminarily process the data or transmit it to the ground control center. Advantageous effects: by setting the first camera on the top frame, real-time monitoring of the upper line environment of the device is realized, which facilitates timely discovery of line fault hidden dangers and improves the comprehensiveness and timeliness of inspection.

[0029] Preferably, the bottom of the control box is provided with a second camera electrically connected therewith.

[0030] The technical scheme is characterized in that the second camera is used to capture the images of the lines and obstacles (such as the damping hammer) below the control box in real time, and the data is transmitted to the control box to form a complement with the images of the first camera, so as to comprehensively cover the lines around the device. The beneficial effect is that the first and second cameras are used to cooperate with each other, the images above and below the power transmission lines are collected in all directions, the blind area of the inspection is avoided, and the integrity of the inspection and the fault identification capability are further improved.

[0031] In summary, due to the adoption of the above technical scheme, the beneficial effect of the present application is:

[0032] 1. In the present application, the double walking devices are used to rotate alternately to cross the obstacles, and the movable column and the auxiliary wheel which can be alternately connected and separated are used to cooperate with each other, so that the device can bypass the obstacles such as the damping hammer through the rotating mode; the alternating opening and closing of the movable column provides the necessary space condition for the rotating obstacle crossing, the lifting of the auxiliary wheel ensures the stability of the fulcrum in the rotating process, and the three cooperate to realize the smooth connection of the obstacle crossing action, which not only ensures the continuity of the inspection process, effectively avoids the cumbersome operation of manual auxiliary handling, greatly improves the inspection efficiency, but also improves the crossing efficiency due to the rotating mode of crossing the obstacles.

[0033] 2. In the present application, the third guide surface and the fourth guide surface are integrated on the same lifting plate with the horizontal surface, the single horizontal movement of the lifting plate can synchronously drive the first movable column and the second movable column to realize the alternating lifting, and then the connection or separation switching of the two with the corresponding mounting plate is completed, without the need to set independent driving mechanisms for the two movable columns, realizing the design of "one plate driving and double column linkage"; the third and fourth guide surfaces accurately control the lifting amplitude and timing of the movable column, and the horizontal surface ensures that the non-action side movable column is not linked, effectively avoiding the action interference of the two movable columns in the connection / separation process, so that the switching action of "the first movable column separation-the second movable column connection" or "the second movable column separation-the first movable column connection" can be completed through one movement of the lifting plate. BRIEF DESCRIPTION OF DRAWINGS

[0034] The present application will be described by examples and with reference to the accompanying drawings, in which:

[0035] Figure 1 is a perspective structural schematic diagram of the present application;

[0036] Figure 2 is a front view structural schematic diagram of the present application;

[0037] Figure 3 is a perspective structural schematic diagram of the control box driving the second walking device to rotate 90 degrees;

[0038] Figure 4 isFigure 3 A side-view stereoscopic structure diagram showing the first moving column lowered and the second moving column raised.

[0039] Figure 5 This is a three-dimensional structural diagram of the box body of the second walking device of the present invention after cross-section;

[0040] Figure 6 for Figure 5 A three-dimensional structural diagram of the structure without a base frame;

[0041] Figure 7 for Figure 6 A three-dimensional structural diagram of the first moving column when it moves to the third guide surface;

[0042] 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;

[0043] 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;

[0044] 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.

[0045] 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.

[0046] 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

[0047] 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.

[0048] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0049] It should be noted that, unless otherwise specified, the embodiments and features described in this invention can be combined with each other.

[0050] 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.

[0051] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0052] It should be noted that, unless otherwise specified, the embodiments and features described in this invention can be combined with each other.

[0053] Example 1

[0054] 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:

[0055] A top frame 700, the bottom ends of the top frame 700 are respectively provided with mounting plates 701, the mounting plates 701 are respectively provided with first connecting members, two walking wheels 702 are respectively rotatably connected with the mounting plates 701, and the walking wheels 702 are driven by first motors 703 arranged on the mounting plates 701;

[0056] A box 800, the box 800 is arranged below the mounting plates 701, two openings are arranged through the box 800, two moving columns are respectively slidably connected with the openings, the moving columns are respectively opposite to the mounting plates 701, and the moving columns are respectively provided with second connecting members, the second connecting members are matched with the first connecting members, and the moving columns and the box 800 are detachably connected;

[0057] Lifting devices, the lifting devices are arranged in the box 800 and are used for respectively driving the moving columns to ascend or descend, so that the second connecting members ascend or descend, and the two moving columns and the two mounting plates 701 are connected or separated;

[0058] Auxiliary wheels 704, the auxiliary wheels 704 are rotatably connected with mounting frames 7041 of the box 800, the auxiliary wheels 704 are arranged below the walking wheels 702, and the mounting frames 7041 are lifted by jacking devices arranged in the box 800;

[0059] A bottom frame 801, the bottom frame 801 is fixed at the bottom of the box 800, the bottom frame 801 is provided with a second motor 802, and an output shaft 803 of the second motor 802 is fixedly connected with a control box 100.

[0060] It should be noted that the control box 100 is the control core of the whole device, responsible for coordinating the actions of each component; the two walking devices are the execution mechanism for the device to walk along the wire 400 and to overcome obstacles; the top frame 700 is used to support the mounting plate 701; the walking wheel 702 is the load-bearing and moving component of walking; the first motor 703 provides driving force for the walking wheel 702; the mounting plate 701 is used to mount the walking wheel 702 and the first connecting piece; the box 800 provides mounting space for components such as the moving column and the lifting device; the moving column realizes the opening and closing of the walking device through connection / separation with the mounting plate 701; the second connecting piece cooperates with the first connecting piece to realize the detachable connection of the moving column and the mounting plate 701; the lifting device drives the moving column to lift to complete the connection / separation action; the auxiliary wheel 704 cooperates with the walking wheel 702 to clamp the wire 400 and provides support; the mounting bracket 7041 is used to mount the auxiliary wheel 704; the jacking device drives the auxiliary wheel 704 to lift to adjust the clamping force; the bottom frame 801 is used to fix the second motor 802; the second motor 802 drives the control box 100 to rotate, providing rotary power for the walking device to overcome obstacles. Working principle: in the initial state, each walking device is connected to the mounting plate 701 through only one moving column (defined as the first moving column 2), and the other moving column (defined as the second moving column 3) is separated from the mounting plate 701 and leaves a gap, forming a state of "one end closed and one end open"; when encountering obstacles such as shock absorbers 1, the second motor 802 of the walking device (defined as the first walking device 300) close to the obstacle is started, its output shaft 803 drives the control box 100 and the walking device away from the obstacle to rotate synchronously, and the walking device away from the obstacle (defined as the second walking device 200) bypasses the wire 400 through the gap between the second moving column 3 and the mounting plate 701 and is separated; 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 is lowered to separate from the mounting plate 701 and form a new gap; after the control box 100 rotates 180 degrees, the wire 400 is clamped between the walking wheel 702 and the auxiliary wheel 704 of the second walking device 200 through the new gap, and the jacking device drives the auxiliary wheel 704 to rise and clamp the wire 400 together with the walking wheel 702 to form a stable fulcrum; finally, the same method is used to drive the walking device close to the obstacle to rotate 180 degrees, completing the obstacle crossing. Advantage: the obstacle crossing method of alternating rotation of the double walking devices, combined with the alternately connected and separated moving columns and the liftable auxiliary wheel 704, enables the device to bypass obstacles such as shock absorbers 1 through rotation; the alternating opening and closing of the moving column provides the necessary space condition for rotation obstacle crossing, and the lifting of the auxiliary wheel 704 ensures the stability of the fulcrum during rotation, and the three work together to realize the smooth connection of the obstacle crossing action, not only ensuring the continuity of the inspection process and effectively avoiding the cumbersome operation of manual auxiliary handling, greatly improving the inspection efficiency, but also improving the crossing efficiency due to the rotation method of crossing obstacles.

[0061] As shown in Figure 1 the first camera 500 is arranged on the top frame 700 and electrically connected with the control box 100. It should be noted that the first camera 500 can capture the line state (such as wire breakage, loose hardware, etc.) above and around the top frame 700 in real time, and transmit the image data to the control box 100 through electrical connection. The control box 100 can preliminarily process the data or transmit it to the ground control center. Advantage: By arranging the first camera 500 on the top frame 700, the real-time monitoring of the line environment above the device is realized, which facilitates the timely discovery of line fault hidden dangers and improves the comprehensiveness and timeliness of the inspection.

[0062] As shown in Figure 1 the bottom of the control box 100 is provided with a second camera 600 electrically connected therewith. It should be noted that the second camera 600 can capture the image of the line and obstacles (such as shock absorber 1) below the control box 100 in real time, and transmit the data to the control box 100. The image of the first camera 500 is complementary, and the line environment around the device is fully covered. Advantage: By arranging the second camera 600 in cooperation with the first camera 500, the image collection of the upper and lower positions of the transmission line 400 is realized, the blind area of the inspection is avoided, and the integrity and fault recognition ability of the inspection are further improved.

[0063] Embodiment 2

[0064] As shown in 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.

[0065] 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.

[0066] As Figures 6-9 shown in the embodiment, the lifting device includes a bottom plate 4, the bottom plate 4 is arranged at the bottom of the box body 800, and the bottom plate 4 is arranged along the length direction of the box body 800, a sliding groove is arranged on the inner wall of the box body 800, a sliding rail is arranged on the side wall of the bottom plate 4, the sliding rail is slidingly arranged in the sliding groove, the top of the bottom plate 4 is fixedly connected with a lifting plate 5, the two ends of the lifting plate 5 in 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 arranged in an inclined manner and have a miter structure, and the bottoms of the two moving columns can respectively contact the first guide surface 51 and the second guide surface 53; the lifting device further includes a moving assembly, the moving assembly is used to drive the bottom plate 4 to move along the length direction of the box body 800, so that the two moving columns can be respectively lifted or lowered through cooperation with the first guide surface 51 and the second guide surface 53. It should be noted that in the lifting device, the bottom plate 4 is used to support the lifting plate 5 and drive the lifting plate 5 to move; the sliding groove cooperates with the sliding rail to provide guidance and limiting for the movement of the bottom 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, and the moving columns are driven to lift through extrusion of the bottoms of the moving columns; the moving assembly is used to drive the bottom plate 4 to move along the length direction of the box body 800. Working principle: the moving assembly drives the bottom plate 4 to move along the length direction of the box body 800, and the bottom 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 the two ends thereof contacts the bottom of the corresponding moving column and generates an extrusion effect, because the guide surface is an inclined structure, the extrusion force is decomposed into a vertical component force, the moving column is pushed to slide upward or downward along the opening of the box body 800, and the lifting of the moving column is realized. Advantageous effects: through arrangement of the lifting plate 5 with the inclined first guide surface 51 and the second guide surface and the sliding groove-sliding rail guiding structure, horizontal movement of the bottom plate 4 is converted into vertical lifting of the moving column.

[0067] As Figure 6As shown, in this embodiment, the moving assembly includes a rack 41 fixed on the bottom plate 4, a gear 42 rotatably connected in the box 800 and engaged with the rack 41, and a third motor 43 driving the gear 42. It should be noted that in the moving assembly, the rack 41 cooperates with the gear 42 to transmit power; the gear 42 converts the rotary motion of the third motor 43 into the linear motion of the rack 41; and the third motor 43 provides driving force for the movement of the bottom plate 4. Working principle: after the third motor 43 starts to rotate forward or reversely, the gear 42 connected with the third motor 43 rotates synchronously; the gear 42 is engaged with the rack 41 on the bottom plate 4, and the rotary motion of the gear 42 is converted into the horizontal linear motion of the rack 41, thereby driving the bottom plate 4 to move rightward or leftward along the length direction of the box 800; the movement of the bottom plate 4 drives the lifting plate 5 to move, and the corresponding moving column is pressed through the first guide surface 51 or the second guide surface 53, so that the lifting of the moving column is realized.

[0068] As 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, which are inclinedly arranged, and two moving columns are located on one side of the third guide surface 52 and the fourth guide surface 54 respectively; 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 bottoms of the first guide surface 51 and the second guide surface 53. It should be noted that the walking device close to the damping hammer 1 is defined as the first walking device 300, and the walking device far from the damping hammer 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 with the corresponding mounting plate 701, while the second moving column 3 and the corresponding mounting plate 701 are separated. At this time, the bottom of the first moving column 2 is located on the top of the lifting plate 5 and on the right side of the third guide surface 52. When an obstacle is encountered, the third motor 43 of the second walking device 200 first drives the gear 42 to rotate forward, thereby driving the bottom plate 4 to move to the right first, driving the lifting plate 5 to move to the right, at this time, the bottom of the first moving column 2 is extruded by the third guide surface 52, and the first moving column 2 moves upward. Because the insert block 21 at the top of the first moving column 2 has been limited by the slot 7011 at this time, the moving column moves upward, thereby driving the mounting bracket 7041 and the walking wheel 702 on the mounting bracket 7041 to move upward, so that the gap between the walking wheel 702 and the auxiliary wheel 704 becomes larger, thereby loosening the electric wire 400, and 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 with the horizontal surface 44, that is, it will not first contact with the second guide surface 53, so it will not rise, and at this time, because the other mounting plate 701 (on the top of the second moving column 3) also moves upward synchronously, the gap between the second moving column 3 and the corresponding mounting plate 701 also becomes larger, leaving a space for the electric wire 400 to pass through. After that, the jacking device of the first walking device 300 drives the mounting bracket 7041 and the auxiliary wheel 704 to move upward, so that the walking wheel 702 and the auxiliary wheel 704 of the first walking device 300 clamp the electric wire 400, forming a fulcrum, and then the second motor 802 of the first walking device 300 is started, the output shaft 803 of the second motor 802 drives the control box 100 to rotate forward, thereby driving the second walking device 200 to rotate forward. Because the second moving column 3 of the second walking device 200 has a gap for the electric wire 400 to pass through between the second moving column 3 and the mounting plate 701, when the control box 100 rotates, the second walking device 200 will be separated from the electric wire 400. When the second walking device 200 is separated from the electric wire 400, at this time, the first moving column 2 on the second walking device 200 (because it is connected with the mounting plate 701) will face the electric wire 400. In order to prevent the first moving column 2 from blocking the electric wire 400 from being clamped between the walking wheel 702 and the auxiliary wheel 704 of the second walking device 200,The third motor 43 on the second walking device 200 is started, the third motor 43 drives the gear 42 to reverse, and then drives the bottom plate 4 to move to the left. At this time, the first moving column 2 will first be separated from the third guide surface 52, and will move downward through the action of the second spring 22. The first moving column 2 first drives the mounting plate 701 to move downward. When the lifting plate 5 continues to move to the left, the first moving column 2 gradually moves onto the first guide surface 51. The first moving column 2 gradually descends, and the top of the first moving column 2 also synchronously descends in the cavity 28 of the plug block 21. At this time, the fixed block 25 at the top of the first moving column 2 gradually withdraws from the fixed groove 7012 on the mounting plate 701, but has not completely withdrawn. That is, the fixed block 25 of the first moving column 2 is still partially clamped in the fixed groove 7012 of the corresponding mounting plate 701. That is, the first moving column 2 has not completely separated from the mounting plate 701, but still has a connection relationship. Correspondingly, the second moving column 3 rises under the action of the second guide surface 53, and the fixed block 25 of the first moving column 2 has been inserted into the corresponding fixed groove 7012, completing the connection. The lifting plate 5 continues to move to the left, the plug block 21 of the first moving column 2 is completely separated from the plug groove 7011, and a gap is formed for the power line 400 to pass through. The fixed block 25 of the second moving column is completely inserted into the fixed groove 7012 of the mounting plate 701, completing the connection. When the control box 100 is rotated by 180 degrees, the power line 400 is clamped between the walking wheel 702 and the auxiliary wheel 704 on the second walking device 200 from the gap between the first moving column 2 and the corresponding mounting plate 701 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 rotating. In the scheme, the third guide surface 52, the fourth guide surface 54 and the horizontal surface 44 are integrated on 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 realize alternating lifting, and then complete the connection or separation switching of the two with the corresponding mounting plate 701. There is no need to set independent driving mechanisms for the two moving columns. The design of "one plate driving and double column linkage" is realized. The third and fourth guide surfaces 54 accurately control the lifting amplitude and timing of the moving column, and the horizontal surface 44 ensures that the non-action side moving column is temporarily not linked. The action interference of the two moving columns in the connection / separation process is effectively avoided. 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" can be completed through one movement of the lifting plate 5.

[0069] As Figure 10As shown, in the embodiment, the bottom of each of the moving columns is rotationally connected with a roller 23. It should be noted that when the lifting plate 5 moves and drives the moving columns to lift through the guide surface, the roller 23 at the bottom of the moving column rolls on the surface of the lifting plate 5, and converts the sliding friction between the moving column and the lifting plate 5 into rolling friction. Advantage: by arranging the roller 23, the frictional resistance between the moving column and the lifting plate 5 is significantly reduced, the lifting action of the moving column is smoother, the component wear is reduced, the service life of the device is prolonged, and the driving energy consumption is reduced.

[0070] As shown in Figure 6 In the embodiment, the jacking device includes an electric telescopic rod 7042, the electric telescopic rod 7042 is fixed in the box body 800, and the telescopic end of the electric telescopic rod 7042 is connected with the mounting frame 7041. The electric telescopic rod is used to drive the auxiliary wheel on the mounting frame to rise or fall. One end of the electric telescopic rod is fixed in the box body, and the other end can be extended or shortened.

[0071] The working principle of the present application is as follows:

[0072] As shown in Figures 1-2 and Figure 6 As shown, in the initial state, the two walking devices (the first walking device 300 and the second walking device 200) arranged at intervals on the control box 100 are in the state of “one end closed and one end open”-only one moving column (defined as the first moving column 2) in each walking device is connected with the first connecting piece of the mounting plate 701 through the second connecting piece, the other moving column (defined as the second moving column 3) is separated from the mounting plate 701 and a gap is left, and at the same time, the auxiliary wheel 704 of each walking device is in the low position, the walking wheel 702 cooperates with the auxiliary wheel 704 to support the electric 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 the line and surrounding environment images in real time and transmit them to the control box 100, and the control box 100 coordinates the actions of each component.

[0073] When the first camera 500, the second camera 600 identify the damping hammer 1 and other obstacles, the control box 100 first starts the electric telescopic rod 7042 of the first walking device 300 close to the obstacle, the electric telescopic rod 7042 is elongated to push the mounting bracket 7041 and the auxiliary wheel 704 to rise, so that the walking wheel 702 of the first walking device 300 and the auxiliary wheel 704 jointly clamp the power line 400 to form a stable fulcrum; then the third motor 43 of the second walking device 200 is started, the third motor 43 drives the gear 42 to rotate forward, the gear 42 is engaged with the rack 41 on the bottom plate 4 to drive the bottom plate 4 to move right along the length direction of the box body 800, the lifting plate 5 on the top of the bottom plate 4 is synchronously moved right, the third guide surface 52 on the lifting plate 5 extrudes the bottom of the first moving column 2 of the second walking device 200, because the top of the first moving column 2 is limited by the insertion groove 7011, when the first moving column 2 moves upward, the mounting plate 701 and the walking wheel 702 are lifted to increase the gap between the walking wheel 702 and the auxiliary wheel 704 to loosen the power line 400, and the second moving column 3 does not rise temporarily because it is in contact with the horizontal surface 44 of the lifting plate 5, and with the lifting of the mounting plate 701, the gap between the second moving column 3 and the mounting plate 701 is further expanded to leave a space for the power line 400 to pass through (the state at this time is shown in Figure 7 The second motor 802 of the first walking device 300 is then started, the output shaft 803 of the second motor 802 drives the control box 100 and the second walking device 200 to rotate synchronously, the second walking device 200 passes through the gap between the second moving column 3 and the mounting plate 701 to bypass the power line 400 and gradually separates from the power line 400; when the second walking device 200 completely separates from the power line 400, the control box 100 starts the third motor 43 to reverse, drives the gear 42 and the rack 41 to move the bottom plate 4 left, the lifting plate 5 is synchronously moved left, the first moving column 2 of the second walking device 200 first separates from the third guide surface 52 and descends under the elastic potential energy of the second spring 22, drives the mounting plate 701 to descend, then 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 in the insertion block 21 moves downward to reduce the pressure in the cavity 28, the fixed block 25 is gradually withdrawn from the fixed slot 7012 under the action of the first spring 26 (not completely separated but still temporarily connected), at the same time, the bottom of the second moving column 3 contacts the second guide surface 53 of the lifting plate 5 and ascends along it, the top insertion block 21 of the second moving column 3 is inserted into the insertion groove 7011 of the corresponding mounting plate 701, the piston plate 27 extrudes the fixed block 25 to be clamped into the fixed slot 7012 to complete the connection (the state at this time is shown in Figure 8 The lifting plate 5 continues to move left, the insertion block 21 of the first moving column 2 completely separates from the insertion groove 7011 to form a new gap, and the second moving column 3 is completely fixed with the mounting plate 701 (the state at this time is shown in Figure 9When the control box 100 rotates 180 degrees, the electric wire 400 is clamped between the walking wheels 702 and the auxiliary wheels 704 through the new gap between the first moving column 2 and the mounting plate 701 of the second walking device 200. The electric telescopic rod 7042 of the second walking device 200 is started to extend, and the auxiliary wheels 704 are pushed to rise and clamp the electric wire 400 with the walking wheels 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 loosened, the second moving column 3 is prepared to be connected, and 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 through the gap of itself to bypass the obstacle, and then switches the moving column connection and clamps the electric wire 400, so as to finally complete the crossing of the shock absorber 1 and other obstacles. During the whole process, the control box 100 continuously receives the image data of the first and second cameras 600, so as to ensure that the inspection and obstacle crossing actions are coordinated.

[0074] The circuits and electronic components and modules involved are all prior art, and those skilled in the art can realize them without further description. The content protected by the present application does not involve improvement of software and methods.

[0075] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0076] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to the embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A light and small tower-mounted autonomous inspection device for an extra-high voltage power transmission line, characterized by, Including control box (100), the control box (100) is provided with two walking devices at intervals, the walking device includes: Top frame (700) and walking wheel (702), the bottom of the top frame (700) is provided with mounting plate (701) at both ends, respectively, two mounting plates (701) are provided with first connecting piece, respectively, both ends of the walking wheel (702) are rotatably connected with two mounting plates (701), and the walking wheel (702) is driven by the first motor (703) provided on the mounting plate (701); Box (800), the box (800) is located below two mounting plates (701), two openings are provided on the box (800), and the inner side of the two openings is slidably connected with a moving column, respectively, two moving columns are opposite to two mounting plates (701), respectively, and two moving columns are provided with second connecting pieces, respectively, the second connecting pieces are matched with the first connecting pieces, the detachable connection between the moving column and the box (800) is realized; Lifting device, the lifting device is arranged in the box (800), is used to drive two moving columns to ascend or descend, respectively, so that two second connecting pieces ascend or descend, to realize the connection or separation of two moving columns and two mounting plates (701), respectively; Auxiliary wheel (704), the auxiliary wheel (704) is rotatably connected on the mounting bracket (7041) of the box (800), the auxiliary wheel (704) is located below the walking wheel (702), and the mounting bracket (7041) is lifted by the jacking device provided in the box (800); Bottom frame (801), the bottom frame (801) is fixed on the bottom of the box (800), and the bottom of the bottom frame (801) is provided with a second motor (802), and the output shaft (803) of the second motor (802) is fixedly connected with the control box (100); The first connecting piece includes a slot (7011) provided at the bottom of the mounting plate (701), and a fixing groove (7012) is provided in the side wall of the mounting plate (701) and communicated with the slot (7011); The second connecting piece includes an insertion block (21) that can be inserted into the slot (7011), the insertion block (21) is provided with a cavity (28) in the inside, the top of the moving column is embedded with a piston plate (27), the piston plate (27) is embedded in the cavity (28), and a mounting groove (24) communicated with the cavity (28) is further provided in the side wall of the insertion block (21), a fixing block (25) matched with the fixing groove (7012) is slidably embedded in the mounting groove (24), and the fixing block (25) is connected with the inner wall of the cavity (28) through the first spring (26).

2. The ultra-high voltage transmission line light and small tower-mounted autonomous inspection device according to claim 1, characterized in that, The moving column is connected with the inner wall of the box (800) through the second spring (22).

3. The ultra-high voltage transmission line light and small tower-mounted autonomous inspection device according to claim 1, characterized in that, The lifting device comprises a bottom plate (4) arranged at the bottom of the box (800) and extending along the length direction of the box (800), a sliding groove arranged on the inner wall of the box (800), a sliding rail arranged on the side wall of the bottom plate (4) and slidingly embedded in the sliding groove, a lifting plate (5) fixedly connected to the top of the bottom plate (4), first and second guide surfaces (51 and 53) respectively arranged at the two ends of the length direction of the lifting plate (5), and the first and second guide surfaces (51 and 53) being arranged in an inclined manner and in a spade shape, and the bottom of each of the two moving columns being in contact with the first and second guide surfaces (51 and 53) respectively. The lifting device further comprises a moving assembly for driving the bottom plate (4) to move along the length direction of the box (800) so that the two moving columns can be lifted or lowered through cooperation with the first and second guide surfaces (51 and 53) respectively.

4. The ultra-high voltage transmission line light and small tower-mounted autonomous inspection device according to claim 3, characterized in that, The moving assembly comprises a rack (41) fixed to the bottom plate (4), a gear (42) rotatably connected to the box (800) and engaged with the rack (41), and a third motor (43) for driving the gear (42).

5. The ultra-high voltage transmission line light and small tower-mounted autonomous inspection device according to claim 4, characterized in that, The top of the lifting plate (5) is provided with third and fourth guide surfaces (52 and 54) arranged in an inclined manner, and the two moving columns are respectively located on one side of the third and fourth guide surfaces (52 and 54). The two ends of the lifting plate (5) are respectively provided with horizontal surfaces (44) in contact with the bottom of the first and second guide surfaces (51 and 53).

6. The ultra-high voltage transmission line light and small tower-mounted autonomous inspection device according to claim 5, characterized in that, The bottom of each of the moving columns is rotatably connected with a roller (23).

7. The ultra-high voltage transmission line light and small tower-mounted autonomous inspection device according to claim 1, characterized in that, The jacking device comprises an electric telescopic rod (7042) fixed in the box (800) and connected with a mounting bracket (7041) at the telescopic end.

8. The ultra-high voltage transmission line light and small tower-mounted autonomous inspection device according to claim 1, characterized in that, The top frame (700) is provided with a first camera (500) electrically connected with the control box (100).

9. The ultra-high voltage transmission line light and small tower-mounted autonomous inspection device according to claim 1, characterized in that, The bottom of the control box (100) is provided with a second camera (600) electrically connected therewith.

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