An obstacle-surmounting electric power line inspection robot and fault early warning integrated system

Abstract

The application relates to the technical field of electric power line inspection robots, in particular to an obstacle-crossing electric power line inspection robot and fault early warning integrated system. The upper end of a counterweight base is fixedly connected with cross beams on the left and right sides, the end inner wall of the cross beam is rotationally connected with a support frame through a pin shaft, the end of a sliding platform and the support frame is provided with an obstacle avoidance assembly, the inner wall of a front roller support in the obstacle avoidance assembly is distributed with a pressing assembly, and the upper end of the counterweight base is distributed with auxiliary assemblies on the front and back sides. Through cooperation between a worm, a side motor box, a power roller and a driving motor, the power roller of the central position and the right side position is sequentially split and obstacle avoidance is carried out according to the above operation, so that the overall robot can realize obstacle-crossing advancement, and thus the problem that the existing electric power line inspection robot cannot cross obstacles when inspecting the outer wall of the electric power cable and has large use limitations and cannot meet actual use requirements can be effectively avoided.

Description

Technical Field

[0001] This invention relates to the field of power line inspection robot technology, specifically to an obstacle-crossing power line inspection robot and a fault early warning integrated system. Background Technology

[0002] Power line inspection robots are intelligent equipment that replaces manual inspections of high-voltage transmission lines. Equipped with high-definition cameras, infrared thermal imagers, lidar, and other sensors, they can autonomously inspect the lines, accurately identify defects such as broken conductor strands, damaged insulators, corroded hardware, and overheating, and operate 24 / 7. This significantly improves efficiency and reduces the risks of personnel climbing to heights, making them core equipment for intelligent power grid operation and maintenance.

[0003] However, existing power line inspection robots lack obstacle-crossing capabilities when inspecting the outer walls of power cables, resulting in significant limitations in their use and failing to meet actual application needs. Additionally, the obstacle avoidance mechanism using a roller on one side can cause instability due to changes in support capacity, leading to increased swaying and affecting the overall performance. Summary of the Invention

[0004] The purpose of this invention is to solve the problem that the power line inspection robot of the device does not have the ability to cross obstacles when inspecting the outer wall of power cables, which leads to a large limitation in its use and cannot meet the actual use needs. At the same time, there is still a problem that the obstacle avoidance method of the roller on one side is prone to the device shaking due to the change in the support capacity, which is easily caused by the instability of the center of gravity, affecting the actual use effect. Therefore, an obstacle-crossing power line inspection robot and fault early warning integrated system are proposed.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] Design an obstacle-crossing power line inspection robot and fault early warning integrated system, including a counterweight base and a support frame. The upper left and right sides of the counterweight base are fixed with crossbeams. The inner walls of the ends of the crossbeams are rotatably connected to the support frame via pins. The upper center of the counterweight base is fixed with central vertical plates on both sides. The upper inner side of the outer wall of the central vertical plate is fixed with a slide rail. A sliding platform is slidably connected to one side of the outer wall of the slide rail. The sliding platform and the support frame are provided with obstacle avoidance components. The inner wall of the front roller bracket of the obstacle avoidance component is distributed with clamping components. The upper front and rear sides of the counterweight base are distributed with auxiliary components.

[0007] Preferably, the obstacle avoidance assembly includes a side motor housing and a central motor housing. The central motor housing is fixedly connected to the upper end of the sliding platform. The outer walls of the two central motor housings are fixedly connected to the ends of the support feet by bolts. Support seats are fixedly connected to the upper ends of the outer shells of both the side motor housing and the central motor housing. Multiple connecting rods are provided on both sides of the outer wall of the support seats. Both sides of the connecting rods are rotatably connected to the support seats and the roller brackets respectively by pins. Worms are fixedly connected to the top motor output shafts of the side motor housing and the central motor housing. Incomplete worm gears are meshed on both sides of the outer wall of the worm gear. The rotation shaft of the incomplete worm gear is fixedly connected to the rotating part of the inner connecting rod.

[0008] This feature, through the design of a worm gear, incomplete worm wheel, connecting rod, and power roller, allows the rotation of the worm gear to drive the rotation of the incomplete worm wheels on both sides. The incomplete worm wheels can then drive the roller supports on both sides to unfold outwards via the connecting rod, allowing the split power rollers to unfold and separate from the outer wall of the power cable, thus achieving obstacle avoidance.

[0009] Preferably, the upper inner wall of the roller bracket is rotatably connected to the main shaft of one half of the power rollers via a bearing, and a drive motor is fixedly connected to the outer wall of the rear roller bracket, with the output shaft of the drive motor being fixedly connected to the main shaft of the rear power rollers.

[0010] Preferably, an adjusting motor is fixedly connected to the outer wall of the central vertical plate on the right, and a threaded rod is fixedly connected to the end of the output shaft of the adjusting motor.

[0011] Preferably, both ends of the outer wall of the threaded rod are rotatably connected to the central vertical plate via bearings, and the right side of the outer wall of the threaded rod is threadedly connected to the sliding platform.

[0012] Preferably, the clamping assembly includes a self-locking cylinder and a spring. The outer wall of the self-locking cylinder is rotatably connected to a roller bracket on one side via a pin. A push plate is fixedly connected to the end of the output shaft of the self-locking cylinder. The two sides of the spring are fixedly connected to the main body of the self-locking cylinder and the push plate, respectively. The two ends of the push plate are rotatably connected to one end of a bent rod via pins. The middle part of the outer wall of the bent rod is rotatably connected to a roller bracket on one side via a pin.

[0013] This feature, through the design of a self-locking cylinder, push plate, and bent rod, allows the output shaft of the self-locking cylinder to extend (normally retracted), enabling the output shaft of the self-locking cylinder to rotate and lock onto the outer wall of the power cable via the push plate, maintaining stability.

[0014] Preferably, the other end of the bent rod is hooked to the power cable, and the outer wall of the power cable is in contact with the center of the outer wall of the power roller.

[0015] Preferably, the auxiliary component includes rack one and rack two. Multiple racks one are fixedly connected to the front and rear sides of the outer wall of the sliding platform. Gears mesh on the outer side of the outer wall of rack one. The inner wall of the gear is rotatably connected to the vertical shaft of the counterweight base through a bearing. Rack two is meshed on the outer side of the outer wall of the gear. The outer wall of rack two is fixedly connected to the counterweight base through multiple sleeves. A sliding rod is slidably connected to the inner wall of the sleeve. End plates are fixedly connected to both ends of the sliding rod. The lower ends of the end plates are fixedly connected to the counterweight base through a base. The outer wall of the counterweight base is fixedly connected to multiple layers of counterweight blocks through bolts and nuts.

[0016] This setup, through the design of the sliding platform, rack one, gear, and rack two, allows the movement of the sliding platform to drive the movement of rack one. The movement of rack one, in turn, drives rack two on the outside to move synchronously and in the opposite direction through the gear, thereby causing the counterweight to move to the right, increasing the weight on the right side. In this way, the support effect on the left side is increased, the weight on the right side is increased, and the center of gravity is further shifted to the right to maintain balance.

[0017] Preferably, a spherical load chamber is installed on the front side of the outer wall of the counterweight base.

[0018] The present invention proposes an integrated system of obstacle-crossing power line inspection robot and fault early warning, which has the following advantages:

[0019] Through the coordination of the worm gear, side motor housing, incomplete worm gear, power rollers, and drive motor, the motor at the top of the side motor housing on the left side drives the worm gear to rotate. The rotation of the worm gear drives the incomplete worm gears on both sides to rotate, causing the incomplete worm gears to drive the roller brackets on both sides to unfold outwards via the connecting rod. This allows the split power rollers to unfold and separate from the outer wall of the power cable. Then, the output shafts of the self-locking cylinders at the center and right sides retract, releasing the engagement. This is then activated by the drive motors at the center and right sides, causing the robot to move forward. After the power roller on the left side passes the obstacle, the motor at the top of the side motor housing drives the worm gear to reverse, causing the split power rollers to re-engage from the outer wall of the power cable. This process is repeated sequentially, separating the power rollers at the center and right sides and moving forward to avoid obstacles. This allows the robot to move forward over obstacles, effectively avoiding the problem that existing power line inspection robots lack obstacle-crossing capabilities when inspecting the outer wall of power cables, which limits their use and fails to meet actual application needs.

[0020] Through the coordination of the power roller, counterweight, adjusting motor, sliding platform, counterweight base, rack one, rack two, and gears, when the power roller on the left needs to overcome an obstacle, the user can first control the adjusting motor to start, causing the adjusting motor to drive the threaded rod to rotate, which in turn drives the sliding platform to move to the left. The sliding platform then moves the power roller in the center position to the left past the center of the counterweight base, allowing the power roller in the center position to provide some support on the left side. At the same time, the movement of the sliding platform can drive rack one to move, and the movement of rack one can drive rack two on the outside to move synchronously and in the opposite direction through the gears, thereby causing the counterweight to move to the right, increasing the weight on the right side. In this way, the support effect on the left side is increased, the weight on the right side is increased, and the center of gravity is further shifted to the right. This effectively avoids the problem that the equipment is prone to shaking due to instability of the center of gravity when the roller on one side is used for obstacle avoidance, which would affect the actual use effect. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall outer wall structure of the present invention;

[0022] Figure 2 For the present invention Figure 1 A schematic diagram of the left-side exterior structure;

[0023] Figure 3 For the present invention Figure 2 A schematic diagram of the exterior structure viewed from below;

[0024] Figure 4 For the present invention Figure 1 Structural diagram of the middle-side motor housing;

[0025] Figure 5 For the present invention Figure 4 Mid-rear exterior view;

[0026] Figure 6 For the present invention Figure 1 A schematic diagram of the auxiliary components in the diagram;

[0027] Figure 7 For the present invention Figure 1 Schematic diagram of the structure at point A in the diagram;

[0028] Figure 8 For the present invention Figure 2 The structural diagram at point B in the diagram.

[0029] In the diagram: 1. Counterweight base, 2. Power cable, 3. Obstacle avoidance assembly, 301. Roller bracket, 302. Drive motor, 303. Power roller, 304. Connecting rod, 305. Support base, 306. Side motor box, 307. Worm gear, 308. Incomplete worm gear, 309. Central motor box, 4. Auxiliary assembly, 401. Slide rod, 402. End plate, 403. Rack one, 404. Counterweight block, 405. Base, 406. Rack two, 407. Gear, 408. Sleeve, 409. Counterweight base, 5. Pressing assembly, 501. Bent rod, 502. Self-locking cylinder, 503. Spring, 504. Push plate, 6. Central vertical plate, 7. Support frame, 8. Crossbeam, 9. Spherical load chamber, 10. Slide rail, 11. Threaded rod, 12. Sliding platform, 13. Adjusting motor. Detailed Implementation

[0030] The present invention will be further described below with reference to the accompanying drawings:

[0031] See attached document Figures 1-8 In this embodiment, an obstacle-crossing power line inspection robot and fault early warning integrated system includes a counterweight base 1 and a support frame 8. The upper left and right sides of the counterweight base 1 are fixedly connected to crossbeams 8. The inner wall of the end of the crossbeams 8 is rotatably connected to the support frame 7 through a pin. The upper center of the counterweight base 1 is fixedly connected to a central vertical plate 6 on both sides. The upper inner side of the outer wall of the central vertical plate 6 is fixedly connected to a slide rail 10. A sliding platform 12 is slidably connected to one side of the outer wall of the slide rail 10. The sliding platform 12 can slide laterally on the outer wall of the slide rail 10. An obstacle avoidance component 4 is provided at the end of the sliding platform 12 and the support frame 7. The inner wall of the front roller bracket 301 of the obstacle avoidance component 4 is distributed with a pressing component 5. The upper front and rear sides of the counterweight base 1 are distributed with auxiliary components 4.

[0032] An adjustment motor 13 is fixedly connected to the outer wall of the right center vertical plate 6. The model of the adjustment motor 13 can be determined according to the specific application. The type of adjustment motor 13 is a servo motor. A threaded rod 11 is fixedly connected to the end of the output shaft of the adjustment motor 13. When the threaded rod 11 rotates, it can drive the sliding platform 12 to move laterally. Both ends of the outer wall of the threaded rod 11 are rotatably connected to the center vertical plate 6 through bearings. The right side of the outer wall of the threaded rod 11 is threadedly connected to the sliding platform 12. A spherical load chamber 9 is installed on the front side of the outer wall of the counterweight base 1. The spherical load chamber 9 consists of a spherical shell, a gimbal / attitude adjustment mechanism, and a data and power supply interface structure.

[0033] See attached document Figures 1-8In this embodiment, the obstacle avoidance component 3 includes a side motor housing 306 and a central motor housing 309. The central motor housing 309 is fixedly connected to the upper end of the sliding platform 12. The outer walls of the two central motor housings 309 are fixedly connected to the ends of the support feet 7 by bolts. Support seats 305 are fixedly connected to the upper ends of the outer shells of both the side motor housings 306 and the central motor housing 309. Motors are installed on the top inner walls of the side motor housings 306 and the central motor housing 309. The top motors are servo motors capable of self-locking and forward / reverse rotation. The specific model can be determined according to the application. The outer walls of the support seats 305 are provided with... Multiple connecting rods 304 are provided to ensure that the roller supports 301 on both sides are always in an upright position when unfolded. Both sides of the connecting rods 304 are rotatably connected to the support base 305 and the roller support 301 respectively through pins. The top motor output shafts of the side motor box 306 and the central motor box 309 are fixedly connected to the worm gear 307. The outer walls of the worm gear 307 are meshed with the incomplete worm gear 308. The worm gear 307 and the incomplete worm gear 308 have self-locking ability. The rotation shaft of the incomplete worm gear 308 is fixedly connected to the rotating part of the inner connecting rod 304.

[0034] The upper inner wall of the roller bracket 301 is rotatably connected to the main shaft of half of the power roller 303 via bearings, and the outer wall of the rear roller bracket 301 is fixedly connected to the drive motor 302. The drive motor 302 is a servo motor, and the specific model can be determined according to the specific application. The output shaft of the drive motor 302 is fixedly connected to the main shaft of the rear power roller 303. The power roller 303 adopts a split structure design, and synchronous rotation is achieved through the friction of close contact during rotation transmission.

[0035] See attached document Figures 1-8 In this embodiment, the clamping assembly 5 includes a self-locking cylinder 502 and a spring 503. The outer wall of the self-locking cylinder 502 is rotatably connected to a roller bracket 301 on one side via a pin. The model of the self-locking cylinder 502 can be determined according to the specific application. A push plate 504 is fixedly connected to the end of the output shaft of the self-locking cylinder 502. The two sides of the spring 503 are respectively fixedly connected to the main body of the self-locking cylinder 502 and the push plate 504. The two ends of the push plate 504 are rotatably connected to one end of the bent rod 501 via a pin. The elastic coefficient of the spring 503 can be determined according to the specific application. The middle part of the outer wall of the bent rod 501 is rotatably connected to the roller bracket 301 on one side via a pin. The other end of the bent rod 501 is hooked to the power cable 2. The bent rod 501 is fastened to the outer wall of the power cable 2, and the outer wall of the power cable 2 is in contact with the center of the outer wall of the power roller 303.

[0036] See attached document Figures 1-8In this embodiment, the auxiliary component 4 includes rack one 403 and rack two 406. Multiple racks one 403 are fixedly connected to the front and rear sides of the outer wall of the sliding platform 12. Gears 407 mesh with the outer side of the outer wall of rack one 403. As rack one 403 moves with the sliding platform 12, it drives gear 407 to rotate, thereby driving rack two 406 to move synchronously and in the opposite direction. The inner wall of gear 407 is rotatably connected to the vertical shaft of the counterweight base 1 via bearings, and the outer side of gear 407 meshes with… A rack 406 is connected to the counterweight base 409. The outer wall of the rack 406 is fixedly connected to the counterweight base 409 through multiple sleeves 408. The inner wall of the sleeves 408 is slidably connected to a sliding rod 401. The sliding rod 401 can provide sliding support for the sleeves 408 and the counterweight base 409. End plates 402 are fixedly connected to both ends of the sliding rod 401. The lower ends of the end plates 402 are fixedly connected to the counterweight base 1 through a base 405. The outer wall of the counterweight base 409 is fixedly connected to the multi-layer counterweight block 404 through bolts and nuts.

[0037] Working principle:

[0038] When this obstacle-crossing power line inspection robot and fault early warning integrated system are needed, the user can first assemble the overall structure. After assembly, place the three power rollers 303 on the outer wall of the power cable 2, ensuring that the spherical load chamber 9 faces the direction of travel. In specific operation, the three drive motors 302 are started synchronously, so that the output shaft of the drive motor 302 can drive the power rollers 303 to rotate synchronously (the power rollers 303 adopt a split structure, and the rotation is transmitted through the tight contact friction of the contact surfaces). The entire equipment can move along the power line by rolling the power rollers 303 on the outer wall of the power cable 2. During the inspection, the power cable 2 is monitored by the fault early warning mechanism inside the spherical load chamber 9.

[0039] The specific monitoring content is as follows: The spherical payload chamber 9 consists of a spherical shell, a gimbal / attitude adjustment mechanism, a data and power supply interface structure.

[0040] The spherical shell is made of optical / electromagnetic wave transparent materials (such as infrared optical glass and polycarbonate) to protect the internal sensors from the harsh outdoor environment (rain, snow, sand, and electromagnetic interference) while ensuring the transmittance of optical / electromagnetic signals.

[0041] The gimbal / attitude adjustment mechanism is equipped with a two-axis or three-axis gimbal, which can realize horizontal rotation (Pan) and pitch (Tilt), and some models also support roll (Roll).

[0042] Inspection sensor arrays typically integrate one or more of the following sensors: • Visible light camera: Captures high-resolution photos / videos of the line for observing visual defects such as broken strands in conductors and loose fittings. • Infrared thermal imager: Detects abnormal temperatures in conductors and joints to identify overheating faults. • LiDAR / range sensor: Measures the distance between the conductor and surrounding obstacles to assist in obstacle avoidance and precise positioning. • Partial discharge sensor: Detects corona and partial discharge signals in high-voltage lines to provide early warning of insulation faults;

[0043] The data and power supply interfaces are internally connected to the main control box via cables to enable sensor power supply, data acquisition, and control command transmission.

[0044] The above scheme enables the practical application of the integrated power line inspection robot and fault early warning system. The following will describe the specific operation when an obstacle is encountered on the outer wall of power cable 2:

[0045] First, when the robot encounters an obstacle while moving forward, it first stops the drive motor 302. Then, it extends the output shafts of the self-locking cylinders 503 at the center and right sides (normally retracted). This allows the output shafts of the self-locking cylinders 503 to push the bent rod 501 through the push plate 504, causing it to rotate and lock onto the outer wall of the power cable 2 for stability. Next, it controls the motor on top of the side motor box 306 at the left side to drive the worm gear 307 to rotate. The rotation of the worm gear 307 drives the incomplete worm wheels 308 on both sides to rotate. The incomplete worm wheels 308, through the connecting rod 304, cause the roller brackets 301 on both sides to unfold outwards, allowing the split power rollers 303 to separate from the outer wall of the power cable 2. Then, it continues moving forward... The output shafts of the self-locking cylinders 503 at the center and right positions retract, releasing the engagement. This is activated by the drive motors 302 at the center and right positions, causing the entire robot to move forward. The power roller 303 on the left side clears the obstacle, and then the motor at the top of the side motor box 306 drives the worm gear 307 to reverse, causing the split power roller 303 to re-engage with the outer wall of the power cable 2. Then, following the above operation, the power rollers 303 at the center and right positions separate and move forward to avoid obstacles, thus enabling the entire robot to move forward over obstacles. This effectively avoids the problem that existing power line inspection robots lack the ability to overcome obstacles when inspecting the outer wall of power cables, resulting in significant limitations in use and inability to meet actual application needs.

[0046] Furthermore, during obstacle crossing, for example, when the power roller 303 on the left needs to cross an obstacle, the user can first control the adjustment motor 13 to start, causing the adjustment motor 13 to drive the threaded rod 11 to rotate, thereby driving the sliding platform 12 to move to the left. This causes the sliding platform 12 to drive the power roller 303 in the center position to move to the left past the center of the counterweight base 1, so that the power roller 303 in the center position can provide some support on the left side. At the same time, the movement of the sliding platform 12 can drive the rack 403 to move, and the movement of the rack 403 can be driven by the gear 407 to move the outer... The racks 406 on the sides move synchronously and in opposite directions, causing the counterweight 404 to move to the right, increasing the weight on the right side. This increases the support effect on the left side and the weight on the right side, further shifting the center of gravity to the right. This effectively avoids the problem of the equipment easily swaying due to instability caused by changes in the support capacity of the rollers on one side during obstacle avoidance, thus affecting the actual use. When the powered roller 303 in the center position is overcoming obstacles, the sliding platform 12 can be adjusted to the center position; when the powered roller 303 in the right position is overcoming obstacles, the sliding platform 12 can be adjusted to... Figure 7 The counterweight 404 is automatically adjusted to the left side to adjust the center of gravity, and is positioned on the right side of the center of gravity.

[0047] Finally, the control process in this case can be controlled by a PLC controller, which can adjust the structure of motor 13, spherical load chamber 9, self-locking cylinder 502, drive motor 302, and the top motor of the central motor box 309 and side motor box 306. The control content can include control, self-locking, linkage, stroke and screen / signal transmission and other specific data control.

[0048] Although the present invention has been illustrated and described with reference to preferred embodiments, those skilled in the art will understand that various changes in form and detail are possible within the scope of the claims.

Claims

1. An integrated system of obstacle-crossing power line inspection robot and fault early warning, comprising a counterweight base (1) and a support frame (8), wherein crossbeams (8) are fixedly connected to the upper left and right sides of the counterweight base (1), characterized in that: The inner wall of the end of the crossbeam (8) is rotatably connected to the support frame (7) by a pin. The upper center of the counterweight base (1) is fixedly connected to the center vertical plate (6) on both sides. The upper inner side of the outer wall of the center vertical plate (6) is fixedly connected to the slide rail (10). The outer wall of the slide rail (10) is slidably connected to the sliding platform (12). The sliding platform (12) and the support frame (7) are provided with obstacle avoidance components (4). The inner wall of the roller bracket (301) on the front side of the obstacle avoidance component (4) is distributed with pressing components (5). The upper front and rear sides of the counterweight base (1) are distributed with auxiliary components (4).

2. The integrated system of obstacle-crossing power line inspection robot and fault early warning as described in claim 1, characterized in that: The obstacle avoidance assembly (3) includes a side motor housing (306) and a central motor housing (309). The central motor housing (309) is fixedly connected to the upper end of the sliding platform (12). The outer walls of the two central motor housings (309) are fixedly connected to the ends of the support feet (7) by bolts. The upper ends of the outer shells of the side motor housing (306) and the central motor housing (309) are both fixedly connected to support seats (305). Multiple connecting rods (304) are provided on both sides of the outer wall of the support seat (305). Both sides of the connecting rods (304) are rotatably connected to the support seat (305) and the roller bracket (301) respectively by pins. The top motor output shafts of the side motor housing (306) and the central motor housing (309) are fixedly connected to worm gears (307). The outer walls of the worm gears (307) are meshed with incomplete worm gears (308). The rotating shaft of the incomplete worm gears (308) is fixedly connected to the rotating part of the inner connecting rods (304).

3. The integrated system of obstacle-crossing power line inspection robot and fault early warning according to claim 2, characterized in that: The upper inner wall of the roller bracket (301) is rotatably connected to the main shaft of half of the power roller (303) via a bearing, and a drive motor (302) is fixedly connected to the outer wall of the rear roller bracket (301). The output shaft of the drive motor (302) is fixedly connected to the main shaft of the rear power roller (303).

4. The integrated system of obstacle-crossing power line inspection robot and fault early warning as described in claim 1, characterized in that: An adjustment motor (13) is fixedly connected to the outer wall of the central vertical plate (6) on the right side, and a threaded rod (11) is fixedly connected to the end of the output shaft of the adjustment motor (13).

5. The integrated system of obstacle-crossing power line inspection robot and fault early warning according to claim 4, characterized in that: Both ends of the outer wall of the threaded rod (11) are rotatably connected to the central vertical plate (6) through bearings, and the right side of the outer wall of the threaded rod (11) is threadedly connected to the sliding platform (12).

6. The integrated system of obstacle-crossing power line inspection robot and fault early warning according to claim 1, characterized in that: The clamping assembly (5) includes a self-locking cylinder (502) and a spring (503). The outer wall of the self-locking cylinder (502) is rotatably connected to a roller bracket (301) on one side via a pin. A push plate (504) is fixedly connected to the end of the output shaft of the self-locking cylinder (502). The two sides of the spring (503) are fixedly connected to the main body of the self-locking cylinder (502) and the push plate (504) respectively. The two ends of the push plate (504) are rotatably connected to one end of the bent rod (501) via a pin. The middle part of the outer wall of the bent rod (501) is rotatably connected to the roller bracket (301) on one side via a pin.

7. The integrated system of obstacle-crossing power line inspection robot and fault early warning according to claim 6, characterized in that: The other end of the bent rod (501) is hooked to the power cable (2), and the outer wall of the power cable (2) is in contact with the center of the outer wall of the power roller (303).

8. The integrated system of obstacle-crossing power line inspection robot and fault early warning according to claim 1, characterized in that: The auxiliary component (4) includes rack one (403) and rack two (406). Multiple racks one (403) are fixedly connected to the front and rear sides of the outer wall of the sliding platform (12). Gears (407) mesh with the outer side of the outer wall of each rack one (403). The inner wall of each gear (407) is rotatably connected to the vertical shaft of the counterweight base (1) via bearings. Rack two (406) meshes with the outer side of the outer wall of each gear (407). The outer wall of (406) is fixedly connected to the counterweight base (409) through multiple sleeves (408), and the inner wall of the sleeve (408) is slidably connected to a slide rod (401). Both ends of the slide rod (401) are fixedly connected to end plates (402). The lower ends of the end plates (402) are fixedly connected to the counterweight base (1) through a base (405). The outer wall of the counterweight base (409) is fixedly connected to the multi-layer counterweight block (404) through bolts and nuts.

9. The integrated system of obstacle-crossing power line inspection robot and fault early warning according to claim 1, characterized in that: A spherical load chamber (9) is installed on the front side of the outer wall of the counterweight base (1).

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