A power line inspection and climbing robot with anti-external damage monitoring and acousto-optic-electric linkage alarm

Abstract

This invention relates to the field of power line inspection and climbing technology, and in particular to a power line inspection and climbing robot with external damage prevention monitoring and audio-visual alarm linkage. The robot includes a top support, a front support, and a rear support. The rear and front supports are respectively distributed on the left and right sides of the top support. Connecting components are provided on both sides of the outer wall of the counterweight base. Monitoring and alarm components are installed on the top of the rear and front supports, and a limit component is provided on one side of the mounting frame of the monitoring and alarm components. Through the cooperation of the protective grille, monitoring camera, and audio-visual alarm, the audio-visual alarm can emit sound and light alarms to scare away birds and other creatures. The electrical signal can be transmitted to an external computer for the operator to perform further operations. This effectively avoids the problem that existing monitoring cameras lack external damage prevention structures, making them susceptible to impacts from birds or debris during high-altitude movement, thus affecting the observation effect.

Description

Technical Field

[0001] This invention relates to the field of power line inspection and climbing technology, specifically to a power line inspection and climbing robot equipped with external damage monitoring and sound, light, and electricity linkage alarm. Background Technology

[0002] Power line inspection and climbing robots are intelligent devices equipped with walking, gripping, and obstacle-crossing mechanisms, as well as sensors such as high-definition cameras, infrared thermal imaging, and partial discharge detection. They can autonomously crawl and inspect along high-voltage overhead transmission lines, collecting data such as line images, temperature, and defects in real time. The data is then transmitted back to the background for analysis via electrical signals, automatically identifying potential hazards such as broken strands, damage, overheating, and aging insulators.

[0003] However, existing monitoring cameras lack external damage protection structures, making them susceptible to impacts from birds or debris during high-altitude operations, which can affect the observation results. Additionally, if simple protective measures are added, the monitoring camera's image may be blocked by the small horizontal and vertical beams of the protective grille, affecting the final inspection and judgment of the power cable surface. Summary of the Invention

[0004] The purpose of this invention is to solve the problem that the monitoring camera of the device does not have an external damage protection structure, which makes it easy for it to be hit by birds or debris during high-altitude walking, thus affecting the actual observation effect. At the same time, there is still a problem that if simple protection is added, the monitoring camera's monitoring image can be blocked by the small horizontal and vertical beams of the protective grille, affecting the final inspection judgment of the power cable surface. Therefore, a power line inspection climbing robot with external damage protection monitoring and sound, light and electricity linkage alarm is proposed.

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

[0006] Design a power line inspection and climbing robot with external damage prevention monitoring and sound-optical-electric linkage alarm, including a top support, a front support, and a rear support. The rear support and the front support are respectively distributed on the left and right sides of the top support. The lower center of the top support is fixedly connected to the counterweight base through a central support frame. Connecting components are provided on both sides of the outer wall of the counterweight base. Monitoring and alarm components are provided on the top of the rear support and the front support. A limit component is provided on one side of the mounting frame of the monitoring and alarm components.

[0007] Preferably, the monitoring and alarm assembly includes a mounting frame, an audible and visual alarm, a monitoring camera, a grid base, a ring, bolts, and a protective grid;

[0008] Multiple mounting frames are respectively installed at the upper center of the rear and front supports. The lower inner wall of the mounting frame is fixedly connected to the rear or front support by multiple bolts. A monitoring camera is fixedly attached to the upper inner wall of the mounting frame. The outer wall of the base of the monitoring camera is rotatably connected to a ring through a bearing. The lower end of the ring is fixedly connected to a grid base by multiple screws. The lower end of the grid base is fixedly connected to a protective grid. An audible and visual alarm is installed on one side of the outer wall of the mounting frame.

[0009] This setup, through the design of a protective grille, monitoring camera, and audible and visual alarm, ensures that the protective grille protects the monitoring camera from interference from birds or debris as the robot moves along with it. Furthermore, the footage captured by the monitoring camera can also monitor the vibration status of the protective grille in real time. If the outer wall of the protective grille is impacted and deformed or vibrates at high frequency, it will send a signal to activate the audible and visual alarm.

[0010] Preferably, a limiting wheel is rotatably connected to one side of the outer wall of the front bracket, and the other side of the outer wall of the front bracket is rotatably connected to an auxiliary wheel bracket, and an auxiliary wheel is rotatably connected to the inner wall of the end of the auxiliary wheel bracket.

[0011] Preferably, a drive motor is fixedly connected to the outer wall of both the rear bracket and the front bracket, a geared drive wheel is fixedly connected to the outer wall of the output shaft of the drive motor on the right side, and a limit wheel is fixedly connected to the outer wall of the output shaft of the drive motor on the left side.

[0012] Preferably, the limiting component includes a throttle, a hole, a rod, a glass panel, and a threaded sleeve;

[0013] The hole is machined at the center of the other side of the outer wall of the mounting frame. A handle is provided at the alignment position of the hole. A plug rod is fixedly connected to the center of the left end of the handle. The end of the plug rod is inserted into the monitoring camera. A threaded sleeve is threadedly connected to the outer wall of the plug rod. The threaded sleeve is fixedly connected to the center of the right side of the outer wall of the protective grille. The glass panel is installed at the center of the front-rear direction of the outer wall of the protective grille.

[0014] This feature, through the design of the monitoring camera, the pole, the protective grille, and the glass panel, ensures that when the monitoring camera rotates left or right, the rotating part of the monitoring camera can drive the protective grille and the glass panel to rotate synchronously through the pole, so that the lens of the monitoring camera is always aligned with the glass panel.

[0015] Preferably, the glass panel is positioned in the same direction as the lens of the monitoring camera.

[0016] Preferably, the inner walls of the top support are rotatably connected to two limit wheels.

[0017] Preferably, the connecting assembly includes a shock-absorbing spring, a vertical slide, an inclined beam, a channel, and a connecting rod;

[0018] The lower ends of the inclined beams on both sides are rotatably connected to the counterweight base via pins. The outer walls of the inclined beams on both sides are rotatably connected to one side of the connecting rod via pins. The other end of the connecting rod is slidably connected to the vertical slide cylinder via pins. The upper ends of the inclined beams on both sides are fixedly connected to channels. The upper and lower sides of the shock-absorbing spring are fixedly connected to the central support frame and the vertical slide cylinder, respectively. The inner wall of the vertical slide cylinder is slidably connected to the central support frame.

[0019] This setup, through the design of the counterweight base, shock-absorbing springs, inclined beams, and connecting rods, ensures stability by pulling down the center of gravity of the entire equipment with the weight of the counterweight base. At the same time, the angle between the inclined beams and connecting rods changes with the up-and-down movement, thereby adjusting the positions of the rear and front supports to keep them in contact with the surface of the power cables. Meanwhile, the shock-absorbing springs provide a reset, ensuring that the counterweight base always maintains its center of gravity and stability.

[0020] Preferably, an adjusting motor is fixedly connected to the outer wall of the channel, and a gear is fixedly connected to the output shaft of the adjusting motor. The outer wall of the gear meshes with the bottom rack of the pointer holder, and the bottom rack of the pointer holder is slidably connected to the inner wall of the channel. The upper pointers of the pointer holders on both sides are fixedly connected to the rear support and the front support through connecting rods.

[0021] The present invention proposes a power line inspection and climbing robot with external damage detection and sound-optical-electric linkage alarm, which has the following advantages:

[0022] By coordinating the protective grille, monitoring camera, and audible and visual alarm, the protective grille can protect the monitoring camera from interference from birds or debris as the robot moves along with it. The monitoring camera can also monitor the vibration status of the protective grille in real time. Once the outer wall of the protective grille is impacted and deformed or vibrates at high frequency, it will send a signal to activate the audible and visual alarm, which will emit an audible and visual alarm to scare away birds and other creatures. The electrical signal can be transmitted to an external computer for the operator to perform the next step. This effectively avoids the problem that existing monitoring cameras do not have an external impact protection structure, which makes them susceptible to impacts from birds or debris during high-altitude movement, thus affecting the observation effect.

[0023] By coordinating the monitoring camera, glass panel, protective grille, and the monitoring camera and the plug, the lens of the monitoring camera is positioned directly opposite the glass panel. Furthermore, due to the shape of the glass panel, the lens remains within the glass panel's range when the monitoring camera rotates vertically. When the monitoring camera rotates horizontally, the rotating part of the monitoring camera can drive the protective grille and glass panel to rotate synchronously via the plug, ensuring that the lens of the monitoring camera is always aligned with the glass panel. This effectively avoids the problem of the monitoring camera's image being blocked by the small horizontal and vertical beams of the protective grille, which would otherwise affect the final inspection and judgment of the power cable surface if simple protection is installed. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall appearance and structure of the present invention;

[0025] Figure 2 For the present invention Figure 1 A schematic diagram of the left-side view structure in the image;

[0026] Figure 3 This is a partial structural diagram of the monitoring camera in this invention;

[0027] Figure 4 For the present invention Figure 3 A schematic diagram of the structure viewed from below in the image;

[0028] Figure 5 For the present invention Figure 3 A schematic diagram of the structure excluding the glass panel;

[0029] Figure 6 For the present invention Figure 4 A schematic diagram of the structure excluding the glass panel;

[0030] Figure 7 For the present invention Figure 3 A schematic diagram of the main view structure in the image;

[0031] Figure 8 For the present invention Figure 1 Schematic diagram of the structure at point A in the diagram;

[0032] Figure 9 For the present invention Figure 1 The structural diagram at point B in the diagram.

[0033] In the diagram: 1. Counterweight base, 2. Top bracket, 3. Connecting assembly, 301. Shock-absorbing spring, 302. Vertical slide, 303. Inclined beam, 304. Channel, 305. Connecting rod, 4. Monitoring and alarm assembly, 401. Mounting frame, 402. Audible and photoelectric alarm, 403. Monitoring camera, 404. Grid base, 405. Ring, 406. Bolt, 407. Protective grid, 5. Limiting assembly, 501. Throttle, 502. Hole, 503. Insert rod, 504. Glass panel, 505. Threaded sleeve, 6. Pointer bracket, 7. Front bracket, 8. Auxiliary wheel, 9. Gear drive wheel, 10. Limiting wheel one, 11. Limiting wheel two, 12. Rear bracket, 13. Gear, 14. Middle support frame, 15. Drive motor, 16. Limiting wheel three, 17. Auxiliary wheel bracket, 18. Adjusting motor. Detailed Implementation

[0034] The present invention will be further described below with reference to the accompanying drawings:

[0035] See attached document Figures 1-9 In this embodiment, a power line inspection and climbing robot with external damage monitoring and sound-optical-electric linkage alarm includes a top support 2, a front support 7, and a rear support 12. The rear support 12 and the front support 7 are distributed on the left and right sides of the top support 2, respectively. The lower center of the top support 2 is fixedly connected to the counterweight base 1 through a central support frame 14. The counterweight base 1 can be used to install the counterweight structure and the power structure required for the overall equipment. A wire hole for wires to pass through is processed on the top of the counterweight base 1. Connecting components 3 are provided on both sides of the outer wall of the counterweight base 1. A monitoring and alarm component 4 is provided on the top of the rear support 12 and the front support 7. A limit component 5 is provided on one side of the mounting frame 401 in the monitoring and alarm component 4.

[0036] One side of the outer wall of the front bracket 7 is rotatably connected to a limiting wheel 10, and the other side of the outer wall of the front bracket 7 is rotatably connected to an auxiliary wheel bracket 17. An auxiliary wheel 8 is rotatably connected to the inner wall of the end of the auxiliary wheel bracket 17. Both the outer walls of the rear bracket 12 and the front bracket 7 are fixedly connected to drive motors 15. The model of the drive motor 15 can be determined according to the specific application. The drive motor 15 adopts a servo motor design. The outer wall of the output shaft of the right drive motor 15 is fixedly connected to a toothed drive wheel 9, and the outer wall of the output shaft of the left drive motor 15 is fixedly connected to a limiting wheel 16. This allows the drive motors 15 on both sides to synchronously drive the limiting wheel 16 and the toothed drive wheel 9 to rotate. Since the teeth on the surface of the toothed drive wheel 9 can increase the friction with the power cable, it serves as the main drive for the robot to walk. The rotation of the limiting wheel 16 serves as an auxiliary drive. Both sides of the inner wall of the top bracket 2 are rotatably connected to limiting wheels 11.

[0037] See attached document Figures 1-9In this embodiment, the monitoring and alarm component 4 includes a mounting frame 401, an audible and visual alarm 402, a monitoring camera 403, a grid base 404, a ring 405, bolts 406, and a protective grid 407.

[0038] Multiple mounting frames 401 are respectively installed at the upper center of the rear bracket 12 and the front bracket 7. The lower inner wall of the mounting frame 401 is fixedly connected to the rear bracket 12 or the front bracket 7 by multiple bolts 406. A monitoring camera 403 is fixedly attached to the upper inner wall of the mounting frame 401. The models of the audible and visual alarm 402 and the monitoring camera 403 can be determined according to the specific application. The audible and visual alarm 402 can emit audible and visual alarms to scare away birds and other creatures. The electrical signal can be transmitted to an external computer to facilitate the operator's further operation. The camera 403 can be opened to remotely observe the power cables and transmit the recorded video wirelessly to an external computer and display screen for monitoring. The outer wall of the base of the monitoring camera 403 is rotatably connected to the ring 405 via bearings. The lower end of the ring 405 is fixedly connected to the grid base 404 via multiple screws. The grid base 404 can be freely disassembled and installed via screws. The lower end of the grid base 404 is fixedly connected to the protective grid 407. An audible and visual alarm 402 is installed on one side of the outer wall of the mounting frame 401.

[0039] See attached document Figures 1-9 In this embodiment, the limiting component 5 includes a throttle 501, a hole 502, a plug rod 503, a glass panel 504, and a threaded sleeve 505.

[0040] Hole 502 is machined at the center of the other side of the outer wall of the mounting frame 401. A handle 501 is provided at the alignment position of hole 502. A plug rod 503 is fixedly connected to the center of the left end of the handle 501. After the plug rod 503 is inserted into the monitoring camera 403, the rotating part of the monitoring camera 403 can rotate left and right through the plug rod 503 to drive the protective grille 407 to rotate. The end of the plug rod 503 is inserted into the monitoring camera 403. A threaded sleeve 505 is threadedly connected to the outer wall of the plug rod 503. When rotated in the forward direction, the probe 503 can be pulled out from inside the monitoring camera 403. When rotated in the reverse direction, the probe 503 can be pressed against inside the monitoring camera 403. The threaded sleeve 505 is fixedly connected to the center of the right side of the outer wall of the protective grille 407. The glass panel 504 is installed at the center of the front-rear direction of the outer wall of the protective grille 407. The glass panel 504 can prevent the monitoring image of the monitoring camera 403 from being blocked by the small horizontal and vertical beams of the protective grille 407. The position of the glass panel 504 is consistent with the lens orientation of the monitoring camera 403.

[0041] See attached document Figures 1-9In this embodiment, the connecting component 3 includes a shock-absorbing spring 301, a vertical slide cylinder 302, an inclined beam 303, a channel 304, and a connecting rod 305.

[0042] The lower ends of the two inclined beams 303 are rotatably connected to the counterweight base 1 via pins. The outer walls of the two inclined beams 303 are rotatably connected to one side of the connecting rod 305 via pins. The other end of the connecting rod 305 is slidably connected to the vertical slide cylinder 302 via pins. The upper ends of the two inclined beams 303 are fixedly connected to the grooves 304. The elastic coefficient of the shock-absorbing spring 301 can be determined according to the specific application. When floating up and down, the angle between the inclined beam 303 and the connecting rod 305 will change accordingly, thereby adjusting the position of the rear support 12 and the front support 7 so that they always keep in contact with the surface of the power cable. The upper and lower sides of the shock-absorbing spring 301 are fixedly connected to the middle support frame 14 and the vertical slide cylinder 302 respectively. The inner wall of the vertical slide cylinder 302 is slidably connected to the middle support frame 14.

[0043] An adjustment motor 18 is fixedly connected to the outer wall of the channel 304. The output shaft of the adjustment motor 18 is fixedly connected to a gear 13. The output shaft of the adjustment motor 18 can drive the pointer frame 6 to move back and forth through the gear 13. At the same time, since the two pointer frames 6 can move back and forth in opposite directions, the distance between the three limit wheels 16 and the one limit wheel 10 can be adjusted to meet the needs of moving on power cables of different sizes. The outer wall of the gear 13 meshes with the bottom rack of the pointer frame 6. The bottom rack of the pointer frame 6 is slidably connected to the inner wall of the channel 304. The pointers at the top of the two pointer frames 6 are fixedly connected to the rear support 12 and the front support 7 through connecting rods.

[0044] Working principle:

[0045] When using this power line inspection and climbing robot with external damage detection and audio-visual alarm linkage, the user can first assemble the overall structure. During use, the auxiliary wheel 8, toothed drive wheel 9, limit wheel one 10, limit wheel two 11, and limit wheel three 16 are sequentially placed on the corresponding power cables. Specifically, the toothed drive wheel 9 should face the robot's direction of travel. After placement, the drive motor 15 can be started, causing the drive motors 15 on both sides to synchronously drive the limit wheel three 16 and the toothed drive wheel 9 to rotate. Because the teeth on the surface of the toothed drive wheel 9 increase the friction with the power cable, it... The main drive for the robot's movement is the rotation of the limit wheel 316 as an auxiliary drive. At the same time, due to the drooping and bending of the power cable and wind factors, the robot may sway or become unstable during movement. Specifically, the weight of the counterweight base 1 can pull down the center of gravity of the entire device to ensure stability. At the same time, when floating up and down, the angle between the inclined beam 303 and the connecting rod 305 will change accordingly, thereby adjusting the position of the rear support 12 and the front support 7 to keep them in contact with the surface of the power cable. Meanwhile, the shock-absorbing spring 301 provides reset so that the counterweight base 1 always maintains the center of gravity and stability.

[0046] As the robot walks along the outer wall of the power cable, the corresponding monitoring camera 403 can be activated to remotely observe the power cable and transmit the recorded video wirelessly to an external computer and display screen for monitoring. However, existing monitoring cameras lack external damage protection, making them susceptible to impacts from birds or debris during high-altitude movement, affecting the observation results. Therefore, this design incorporates a protective grille 407 and an audible and visual alarm 402. The protective grille 407 provides constant protection for the monitoring camera 403 as it moves alongside the robot. 03. Unaffected by external birds or debris, the monitoring camera 403 can also monitor the vibration status of the protective grille 407 in real time. Once the outer wall of the protective grille 407 is impacted and deformed or vibrates at high frequency, a signal will be sent to the audible and visual alarm 402 to activate, causing the audible and visual alarm 402 to emit an audible and visual alarm to drive away birds. The electrical signal can be transmitted to an external computer for the operator to perform the next step. This effectively avoids the problem that existing monitoring cameras do not have an anti-damage structure, which makes them susceptible to impacts from birds or debris during high-altitude walking, affecting the observation effect.

[0047] In practical operation, to prevent the monitoring image of the camera 403 from being obstructed by the small horizontal and vertical beams of the protective grille 407, thus affecting the final inspection and judgment of the power cable surface, this design incorporates a glass panel 504. This ensures that one side of the lens of the monitoring camera 403 is directly facing the glass panel 504. Furthermore, due to the shape of the glass panel 504, when the monitoring camera 403 rotates vertically, its lens remains within the range of the glass panel 504. When the monitoring camera 403 rotates horizontally, its rotating part can drive the protective grille 407 and the glass panel 504 to rotate synchronously via the insert rod 503, ensuring that the lens of the monitoring camera 403 is always aligned with the glass panel 504. This effectively avoids the problem that, with simple protective measures, the monitoring image of the camera 403 might be obstructed by the small horizontal and vertical beams of the protective grille 407, affecting the final inspection and judgment of the power cable surface. By rotating the handle 501, the insert rod 503 and the threaded sleeve 505 can be used to pull the insert rod 503 out of the monitoring camera 403. Then, by using the screws at the grille base 404, the protective grille 407 and the glass panel 504 can be removed for cleaning.

[0048] Finally, the control process in this case can be controlled by a PLC controller, which can drive the motor 15, monitor the camera 403, the sound and light alarm 402, adjust the motor 18, and the wireless transmission module, etc. The control content can include control, self-locking, linkage, stroke, and specific data control such as image / signal transmission.

[0049] 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. A power line inspection and climbing robot with external damage monitoring and sound-optical-electric linkage alarm, comprising a top support (2), a front support (7), and a rear support (12), wherein the rear support (12) and the front support (7) are respectively distributed on the left and right sides of the top support (2), characterized in that: The lower center of the top support (2) is fixedly connected to the counterweight base (1) through the middle support frame (14). The outer walls of the counterweight base (1) are provided with connecting components (3). The top of the rear support (12) and the front support (7) are provided with monitoring and alarm components (4). The monitoring and alarm components (4) have a limit component (5) on one side of the mounting frame (401).

2. The power line inspection and climbing robot with external damage monitoring and audio-visual linkage alarm as described in claim 1, characterized in that: The monitoring and alarm component (4) includes a mounting frame (401), an audible and visual alarm (402), a monitoring camera (403), a grid base (404), a ring (405), bolts (406), and a protective grid (407). Multiple mounting frames (401) are respectively installed at the upper center of the rear bracket (12) and the front bracket (7). The lower inner wall of the mounting frame (401) is fixedly connected to the rear bracket (12) or the front bracket (7) by multiple bolts (406). A monitoring camera (403) is fixedly connected to the upper inner wall of the mounting frame (401). The outer wall of the base of the monitoring camera (403) is rotatably connected to the ring (405) by a bearing. The lower end of the ring (405) is fixedly connected to the grid base (404) by multiple screws. The lower end of the grid base (404) is fixedly connected to the protective grid (407). An audible and visual alarm (402) is installed on one side of the outer wall of the mounting frame (401).

3. The power line inspection and climbing robot with external damage monitoring and audio-visual linkage alarm as described in claim 1, characterized in that: One side of the outer wall of the front bracket (7) is rotatably connected to a limiting wheel (10), and the other side of the outer wall of the front bracket (7) is rotatably connected to an auxiliary wheel bracket (17), and an auxiliary wheel (8) is rotatably connected to the inner wall of the end of the auxiliary wheel bracket (17).

4. A power line inspection and climbing robot with external damage monitoring and audio-visual linkage alarm as described in claim 1, characterized in that: The outer walls of the rear bracket (12) and the front bracket (7) are both fixed with drive motors (15). The outer wall of the output shaft of the drive motor (15) on the right side is fixed with a toothed drive wheel (9), and the outer wall of the output shaft of the drive motor (15) on the left side is fixed with a limit wheel (16).

5. A power line inspection and climbing robot with external damage monitoring and audio-visual linkage alarm as described in claim 1, characterized in that: The limiting component (5) includes a throttle (501), a hole (502), a plug (503), a glass panel (504), and a threaded sleeve (505). The hole (502) is machined at the center of the other side of the outer wall of the mounting frame (401). A handle (501) is provided at the alignment position of the hole (502). A plug rod (503) is fixedly connected to the center of the left end of the handle (501). The end of the plug rod (503) is inserted into the monitoring camera (403). A threaded sleeve (505) is threadedly connected to the outer wall of the plug rod (503). The threaded sleeve (505) is fixedly connected to the center of the right side of the outer wall of the protective grille (407). The glass panel (504) is installed at the center of the front-rear direction of the outer wall of the protective grille (407).

6. A power line inspection and climbing robot with external damage monitoring and audio-visual linkage alarm as described in claim 5, characterized in that: The glass panel (504) is positioned in the same direction as the lens of the monitoring camera (403).

7. A power line inspection and climbing robot with external damage monitoring and audio-visual linkage alarm as described in claim 1, characterized in that: The inner walls of the top support (2) are rotatably connected to two limit wheels (11).

8. A power line inspection and climbing robot with external damage monitoring and audio-visual linkage alarm as described in claim 1, characterized in that: The connecting assembly (3) includes a shock-absorbing spring (301), a vertical slide (302), an inclined beam (303), a channel (304), and a connecting rod (305); The lower ends of the inclined beams (303) on both sides are rotatably connected to the counterweight base (1) by a pin. The outer walls of the inclined beams (303) on both sides are rotatably connected to one side of the connecting rod (305) by a pin. The other end of the connecting rod (305) is slidably connected to the vertical slide cylinder (302) by a pin. The upper ends of the inclined beams (303) on both sides are fixedly connected to a channel (304). The upper and lower sides of the shock-absorbing spring (301) are fixedly connected to the middle support frame (14) and the vertical slide cylinder (302) respectively. The inner wall of the vertical slide cylinder (302) is slidably connected to the middle support frame (14).

9. A power line inspection and climbing robot with external damage monitoring and audio-visual linkage alarm as described in claim 8, characterized in that: The outer wall of the channel (304) is fixedly connected to an adjustment motor (18), and the output shaft of the adjustment motor (18) is fixedly connected to a gear (13). The outer wall of the gear (13) meshes with the bottom rack of the pointer holder (6). The bottom rack of the pointer holder (6) is slidably connected to the inner wall of the channel (304). The pointers on both sides of the pointer holder (6) are fixedly connected to the rear support (12) and the front support (7) through connecting rods.

Images